Intelligent Compliance Control for Robotic Deburring Using Fuzzy Logic

摘要

An intelligent compliance control strategy is proposed by employing a fuzzy impedance controller and a fuzzy velocity controller for improving the constrained motion control performance and the quality of the deburred surface. For the improvement of force control performance, impedance parameters can be modified according to the difference between the actual and the desired position by the fuzzy adaptation mechanism. The feedrate in tangential direction is adjusted for the special burrs and defects to get smooth surface. An empirical force model taking into consideration the burrs affection is developed to predict the cutting force. The simulation experiment shows that the algorithm is effective to obtain the desired contour and improve the control performance.