Path planning of grinding robot with force control based on B-spline curve

摘要

In order to realize the stable control of grinding force during the robot grinding process, a robotic path optimization method based on B-spline curve is proposed. According to the given control points, the function model of B-spline curve was established to interpolate, and the path based on B-spline curve was fitted to achieve the goal of path smoothing. The test experiment of grinding force was carried out and the experiment results showed that the force change of the path based on B-spline curve was less fluctuation than that of the general path. Therefore, the path based on B-spline curve can effectively reduce the fluctuation and deviation of grinding force in machining process and provide a stable machining environment for realizing the constant control of grinding force.