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An improved rational Bezier model for pneumatic constant force control device of robotic polishing with hysteretic nonlinearity

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Abstract

The pneumatic constant force control device has been widely used in robot deburring, sanding, polishing, and other fields due to its good flexibility, simple control, and low cost. The force control accuracy of the pneumatic constant force system could be greatly affected by its nonlinear hysteresis characteristics in the process from the cylinder input to the force output at the end of the device. A rational Bezier-based state fitting method (BSFM) has been presented for calibrating the inherent nonlinearity of the low-cost pneumatic constant force system. Compared with the most widely used PSFM, which is a polynomial-based state fitting method, the BSFM could calibrate the strong inherent nonlinearity of the system more smoothly with the lower ordered model and in a continuous form rather than the piecewise form of the PSFM. The BSFM could maintain a balance between simplicity and precision. Through a series of comparative experiments with different contact forces and feed rates, the proposed method has smaller force overshoot and when active force control is turned on, the force variation is greatly reduced to less than 2 N. The average roughness of the workpiece reached 0.4 µm after polishing.

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Funding

This research work is supported by the China Postdoctoral Science Foundation project (No. 2019M651965).

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Authors and Affiliations

  1. School of Aerospace and Mechanical Engineering, Changzhou Institute of Technology, Changzhou, 213002, China

    Yongjiang Chen & Yujie Jin

  2. Institute of Advanced Manufacturing Technology, Chinese Academy of Sciences, Changzhou, 213164, China

    Jianghai Zhao

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  1. Yongjiang Chen
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  2. Jianghai Zhao
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  3. Yujie Jin
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Contributions

The force control accuracy of the pneumatic constant force system could be greatly affected by its nonlinear hysteresis characteristics in the process from the cylinder input to the force output at the end of the device. A rational Bezier-based state fitting method (BSFM) has been presented for calibrating the inherent nonlinearity of the low-cost pneumatic constant force system. The BSFM could maintain a balance between simplicity and precision.

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Correspondence to Yongjiang Chen.

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Chen, Y., Zhao, J. & Jin, Y. An improved rational Bezier model for pneumatic constant force control device of robotic polishing with hysteretic nonlinearity. Int J Adv Manuf Technol 123, 665–674 (2022). https://doi.org/10.1007/s00170-022-10193-4

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  • DOI: https://doi.org/10.1007/s00170-022-10193-4

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