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The constant force control based on an optimized environmental model for the robotic lapping of curved surface

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Abstract

During the curved surface lapping processing by robot, the surface quality of the processed workpieces cannot be fully guaranteed because of the uncontrollability of lapping contact force. Therefore, the accurate control of the contact force between the tool and the workpiece is important to improve the processing quality. This paper proposes an impedance control strategy based on an optimized environmental model to address the serious constraints brought by the uncertainty of the environmental model in impedance control on the compensation accuracy of contact force and constructed a contact environmental model of elastic abrasives based on neural network algorithm, which improved the compensation accuracy of contact force through iterative iteration and prediction between the environmental model and the impedance model. Constant force control is achieved through accuracy compensation, which ultimately leads to an improvement in the surface quality of the workpiece. Through comparison experiments, it is found that compared with the unoptimized method, the force control tracking error is reduced by 60.9%, the contact force variance is reduced by 25.7%, the contact force error during curved surface force control lapping process is reduced by 58.3% and the contact force variance is reduced by 52.5%, and the workpiece roughness Ra value is reduced by 37.2%. Therefore, the robotic constant force control system based on optimized environmental model can achieve a better force control effect, which can realize accurate and stable control of contact force during curved surface lapping process by robot, and has certain potential for engineering application.

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Data availability

The datasets generated and/or analyzed during the current study are available from the corresponding author on reasonable request.

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Funding

This work was supported by the National Natural Science Foundation of China (no. 52075463) and Shenzhen Science & Technology Program (no. JCYJ20210324122001003).

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Authors and Affiliations

  1. Department of Mechanical and Electrical Engineering, Xiamen University, Xiamen, 361005, China

    Yuxin Shi, Jinghang Wang, Xiangbo He & Yunfeng Peng

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  1. Yuxin Shi
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  2. Jinghang Wang
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Contributions

All authors contributed to the study conception and design. Theoretical research, experiments, data collection, and analysis were performed by Yuxin Shi, Jinghang Wang, Xiangbo He, and Yunfeng Peng. The first draft of the manuscript was written by Yuxin Shi, and all authors commented on previous versions of the manuscript. All authors read and approved the final manuscript.

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Correspondence to Yunfeng Peng.

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Shi, Y., Wang, J., He, X. et al. The constant force control based on an optimized environmental model for the robotic lapping of curved surface. Int J Adv Manuf Technol 127, 5051–5062 (2023). https://doi.org/10.1007/s00170-023-11764-9

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  • DOI: https://doi.org/10.1007/s00170-023-11764-9

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