Research on Contact Force Control of Grinding Robot based on Adaptive Impedance Control

摘要

In order to solve the problem of contact force control in the process of polishing and deburring, and improve the polishing accuracy, the adaptive impedance control algorithm is adopted to realize the force and position compliance control. The control model of contact impedance between robot grinding head and workpiece is established, and the adaptive impedance controller is designed. The simulation software MATLAB / Simulink is used to verify the research conclusion with a simplified 2-DOF planar robot. The results show that the adaptive impedance controller can control the target contact force constantly and meet the requirements of grinding accuracy.