Compliance Control of Deburring Robots based on Force Impedance

Abstract

To achieve active compliance in the robot deburring process, a compliance control method of deburring robots based on force impedance is proposed. An impedance model between the reference deburring trajectory and contact force is constructed, based on the force feedback. The force impedance is integrated into the position control loop of robots in the Cartesian coordinates. On-line adjustment of the robot displacement and velocity is realized using normal force and tangential force, respectively. The control system simulation is carried out in the Simulink environment using the S-function. Results show that this method guarantees the displacement tracking performance of the robot, and achieves the displacement compliance through the normal force, as well as the velocity compliance through the tangential force.