Fuzzy Impedance Control for Robot Impact Force

摘要

Aiming at the high efficiency and quality machining of complex blade, which is an important part of aero-engine, steam turbine and gas turbine, the industrial robot is used for polishing and grinding. Based on the traditional impedance control, a combined control strategy, fuzzy impedance control, is obtained by fusing the fuzzy system and impedance control. On this control strategy, a simulation model is built on Simulink to carry out the collision and impact simulation experiment between the robot and the workpiece. The simulation results show that, compared with the traditional impedance force control, the proposed strategy accelerates the convergence speed, significantly reduces the impact between the robot and the workpiece, and is more beneficial to protect the robot, polishing tool and the workpiece.