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Adaptive Variable Impedance Control with Fuzzy-PI Compound Controller for Robot Trimming System

  • Research Article-Mechanical Engineering
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Abstract

The supporting element is an important part of the robot trimming system and is used to locate and support thin-walled parts. However, the unstable supporting force directly leads to vibration and even deformation of thin-walled parts, so maintaining an ideal supporting force is essential to raise the processing quality of thin-walled parts. In this paper, an adaptive variable impedance control with Fuzzy-PI compound controller designed for the supporting element is presented, which has the ability to resolve the force tracking problem under unknown environments. The method combines the fast response of Fuzzy control with the steady-state error suppression of PI control and can quickly and stably track the ideal force. In this study, the defects of the traditional constant impedance control in an unknown environment are firstly pointed out, and then an adaptive variable impedance control method using a Fuzzy-PI compound controller to adjust the target damping online is proposed to compensate for force tracking errors caused by the unknown environment based on these defects. In addition, the stability and convergence of the proposed method in the force tracking process are demonstrated. The simulation and experimental results show that, compared to the traditional constant impedance control, the force tracking performance of the proposed control method is significantly improved in terms of response speed and steady-state accuracy.

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Acknowledgements

The authors would like to acknowledge Yangzi Automobile Interior Parts Co., Ltd. (Yangzhou, Jiangsu, China.) for support of this work.

Funding

This study was funded by Jiangsu Natural Science Foundation of China(No.BK20190473).

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Authors and Affiliations

  1. School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing, 210094, China

    Ze Liu & Yu Sun

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  1. Ze Liu
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  2. Yu Sun
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Contributions

The first author ZL has been responsible for developing the force control method, designing the simplified supporting experiments, and writing this paper. YS has offered great help to the revision of this paper and the analysis of theory.

Corresponding author

Correspondence to Yu Sun.

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Liu, Z., Sun, Y. Adaptive Variable Impedance Control with Fuzzy-PI Compound Controller for Robot Trimming System. Arab J Sci Eng 47, 15727–15740 (2022). https://doi.org/10.1007/s13369-022-06755-z

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  • DOI: https://doi.org/10.1007/s13369-022-06755-z

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