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Hybrid orientation/force control for robotic polishing with a 2R1T force-controlled end-effector

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Abstract

For robotic polishing of curved surfaces with compliant polishing disc, it is critical to accurately control the tilt angle of the polishing disc and normal contact force between the disc and the workpiece surface simultaneously. As conventional industrial robots lack force control capability, a 3-DOF two-rotational-one-translational (2R1T) force-controlled end-effector based on the 3-PPS parallel mechanism is developed for robotic polishing. During the polishing process, the changes of the tilt angle of the end-effector’s moving platform will result in displacement variations of the contact point, owing to the inherent parasitic motion of the end-effector module, the geometry of the disc, and the compliance of the disc. Without proper compensation of the displacement variation, the control accuracy of contact force will be significantly decreased. To tackle this problem, a parametric model is established to predict the contact point variation. A hybrid orientation/force control architecture with compensation of the contact point variation is proposed. Based on the kinematic analysis, orientation control is achieved through a position controller. The force tracking control considering the uncertainty of the environment is achieved through an admittance controller. By introducing the contact point compensation model into the control architecture, the control accuracy of the contact force is significantly improved. The proposed control architecture is evaluated on a macro-mini manipulator consisting of a 6-DOF industrial robot and the 2R1T force-controlled end-effector. The experimental results indicate that the orientation control is accurate and the mean force errors with three different kinds of tilt angle references are reduced by 78.9\(\%\), 81.1\(\%\) and 72.3\(\%\) compared to the conventional hybrid orientation/force control, respectively, which validate the effectiveness of the proposed control method.

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Funding

This work was supported by the National Key Research and Development Program of China (2018YFB1308900), the National Natural Science Foundation of China (92048201, U1909215, 52127803, U1813223), the Equipment Development Project of CAS (YJKYYQ20200030), the Ningbo Key Project of Scientific and Technological Innovation 2025 (2018B10058).

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Authors and Affiliations

  1. Zhejiang Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology, Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo, 315201, Zhejiang, China

    Renfeng Zhu, Guilin Yang, Zaojun Fang, Junjie Dai, Chin-Yin Chen, Guolong Zhang & Chi Zhang

  2. College of Materials Sciences and Opto-Electronic Technology, University of Chinese Academy of Sciences, Beijing, 100049, Beijing, China

    Renfeng Zhu & Junjie Dai

Authors
  1. Renfeng Zhu
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  2. Guilin Yang
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  3. Zaojun Fang
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  4. Junjie Dai
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  5. Chin-Yin Chen
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  6. Guolong Zhang
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  7. Chi Zhang
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Contributions

Renfeng Zhu: conceptualization, writing original draft, validation; Guilin Yang: resources, instructing, review; Zaojun Fang: instructing, review; Junjie Dai: validation; Chin-Yin Chen: instructing, review; Guolong Zhang: review; Chi Zhang: instructing, review; All authors read and approved the final manuscript.

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Correspondence to Guilin Yang or Zaojun Fang.

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Zhu, R., Yang, G., Fang, Z. et al. Hybrid orientation/force control for robotic polishing with a 2R1T force-controlled end-effector. Int J Adv Manuf Technol 121, 2279–2290 (2022). https://doi.org/10.1007/s00170-022-09407-6

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