A Pareto-Optimal-Based Fractional-Order Admittance Control Method for Robot Precision Polishing

摘要

Traditional integer-order admittance control is widely used in industrial scenarios requiring force control, but integer-order models often struggle to accurately depict fractional-order-controlled objects, leading to precision bottlenecks in the field of precision machining. For robotic precision polishing scenarios, to enhance the stability of the control process, we propose a more physically accurate five-parameter fractional-order admittance control model. To reduce contact impact, we introduce a method combining the rear fastest tracking differential with fractional-order admittance control. The optimal parameter identification for the fractional-order system is completed through Pareto optimality and a time–frequency domain fusion analysis of the control system. We completed the optimal parameter identification in a simulation, which is applied to the robotic precision polishing scenario. This method significantly enhanced the force control precision, reducing the error margin from 15% to 5%.