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Nonlinear impedance control with trajectory adaptation for collaborative robotic grinding

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Abstract

Stiffness adjustment is an important feature of human arm control. The adaptive variable impedance control can adapt to the robotic stiffness, but may result in a large overshoot. In this paper, nonlinear impedance control is proposed for collaborative robotic grinding, where nonlinear force feedback is designed to compensate for the nonlinear stiffness of the environment. Thus, the interaction system can be linearization to ensure the system stability. Moreover, a target trajectory adaptation strategy is studied to ensure the force tracking requirement. Then, switching law between trajectory tracking and force tracking is proposed when the robot performs a complex grinding task. The stability of the switch control as well as the trajectory adaptation law is proved. Experiments are conducted in a robotic grinding test rig, where the robot is used to grind a turbine blade. Experimental results show that the nonlinear impedance control can obtain stable grinding force, and have better grinding quality than the linear impedance control.

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Authors and Affiliations

  1. State Key Laboratory of Intelligent Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, 430074, China

    FengTao Han, SikYuen Tam, XingWei Zhao, Bo Tao & Han Ding

  2. State Key Laboratory of Intelligent Manufacturing System Technology for Complex Products, Beijing Institute of Electronic System Engineering, Beijing, 100854, China

    ZhiHong Cao

  3. ROKAE (Beijing) Technology Co., Ltd., Beijing, 100193, China

    FengTao Han

Authors
  1. FengTao Han
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  2. SikYuen Tam
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  3. ZhiHong Cao
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  4. XingWei Zhao
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  5. Bo Tao
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  6. Han Ding
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Corresponding author

Correspondence to XingWei Zhao.

Additional information

This work was supported by the National Key Research and Development Program of China (Grant No. 2022YFB4702200) and the National Natural Science Foundation of China (Grant Nos. 52275020, 62293514).

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Han, F., Tam, S., Cao, Z. et al. Nonlinear impedance control with trajectory adaptation for collaborative robotic grinding. Sci. China Technol. Sci. 66, 1928–1936 (2023). https://doi.org/10.1007/s11431-022-2418-4

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  • DOI: https://doi.org/10.1007/s11431-022-2418-4

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