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Research on fuzzy impedance force control technology of robot-assisted abrasive cloth wheel polishing blade

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Abstract

Industrial-robot assisted abrasive cloth wheel polishing blades aim to reduce surface roughness and improve machining consistency of blades. Since the blade is the complex free-form surface, the blade surface after offline programming has “over-polishing,” “under-polishing,” and machining allowance uneven phenomenon. In this paper, fuzzy impedance force control technology is proposed to solve the precision problem in the blade polishing process. First, the position-based impedance control algorithm is analyzed, and reasonable impedance parameters are obtained based on the actual robot model. Then, the fuzzy variable impedance control combining fuzzy theory and impedance control is proposed to solve the problems of poor trajectory tracking ability and force instability, when the traditional impedance control faces environmental changes and unknown environments. Finally, the simulation platform is built with the help of MATLAB Simulink tool to verify the effectiveness and rationality of the strategy, and the comparative experiment is conducted for robot-assisted abrasive cloth wheel polishing blade under fuzzy variable impedance force control and without force control. The results show that after superimposing the displacement compensation controlled by the fuzzy variable impedance force on the blade surface, the blade surface roughness is below 0.4 μm, the polishing machining allowance is within ± 0.06 mm, and the uniformity and consistency of the blade polishing surface are better.

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All data generated or analyzed during this study are included in this published paper.

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Funding

This work was supported by the National Natural Science Foundation of China (Grant No. 52105474) and the Science and Technology Innovation Project of Colleges and Universities in Shanxi Province (Grant No.RD2000003620).

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Authors and Affiliations

  1. College of Mechanical and Vehicle Engineering, Taiyuan University of Technology, Taiyuan, 030024, China

    Jia Liu, Jingjing Zhang, Jingzheng Li, Shengqiang Yang, Zhijie Qiao, Chun Ju & Xuhui Zhao

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  1. Jia Liu
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  2. Jingjing Zhang
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  3. Jingzheng Li
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  4. Shengqiang Yang
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  5. Zhijie Qiao
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Contributions

The proposal and realization of this technology were mainly completed by Jia Liu. Shengqiang Yang provided experimental conditions and guidance on research directions. Jingjing Zhang participated in technical discussions and research. Other authors participate in the research.

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Correspondence to Jia Liu or Shengqiang Yang.

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Financial interests: Author Jia Liu have received research support from the funding.

Non-financial interests: Authors Jingjing Zhang and Jingzheng Li, Shengqiang Yang, Zhijie Qiao Chun Ju, Xuhui Zhao did not get paid from the funding.

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Liu, J., Zhang, J., Li, J. et al. Research on fuzzy impedance force control technology of robot-assisted abrasive cloth wheel polishing blade. Int J Adv Manuf Technol 127, 2537–2551 (2023). https://doi.org/10.1007/s00170-023-11648-y

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  • DOI: https://doi.org/10.1007/s00170-023-11648-y

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