A hybrid control strategy for grinding and polishing robot based on adaptive impedance control

Zhou, Haibo; Ma, Shitai; Wang, Guilian; Deng, Yuxin; Liu, Zhenzhong

doi:10.1177/16878140211004034

Cited by 39 publications

(16 citation statements)

References 22 publications

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“…x d represents the desired velocity (mm/s) of the actuator; € x d represents the desired acceleration (mm/s 2 ) of the actuator; _ x represents the actual velocity (mm/s) of the actuator, € x represents the actual acceleration (mm/s 2 ) of the actuator; x e represents the initial position of finger contact object (mm). Let Dx ¼ x À x e , the relationship model between the fruit deformation and the contact force F e is equivalent to a first-order model, 21 and its calculation formula is as follows:…”

Section: G Smentioning

confidence: 99%

Research on the application of impedance control in flexible grasp of picking robot

Zhuang

Ding

et al. 2023

Advances in Mechanical Engineering

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Aiming at the damage of fruit picking robot during the picking process, an impedance control method of picking robot with parameter self-tuning is proposed. The rheological properties of fruit during picking by manipulator were studied by Burger’s viscoelasticity theory, and the variation characteristics of fruit deformation during picking, as well as the changing law between fruit contact force and deformation were obtained. On this basis, the impedance control system model of the picking manipulator is established, and the impedance controller is designed. Finally, by constructing the self-correcting change function of impedance parameters, the influence of different impedance parameters on the change of the contact force is studied, and then the control system is improved and designed. The simulation and experimental results show that the established impedance control system model can effectively realize the non-destructive grasping of fruit, and has high grasping accuracy. The expected grasping force is smoother, the overshoot of the contact force is greatly reduced, and the adjustment time is also shortened, which indicates that the control method proposed in this paper has certain application value in the control of picking robots.

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Section: G Smentioning

confidence: 99%

Research on the application of impedance control in flexible grasp of picking robot

Zhuang

Ding

et al. 2023

Advances in Mechanical Engineering

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“…The mounting method achieves physical separation and decoupling to realize an assembly and grinding system with force/position control at the end of the robot. Zhou et al [84] designed a robotic effector for grinding and polishing a robotic system. They fully consider the position, posture, and force control adjustment of the robot as it moves through free space to the table, while the human makes contact with the table and performs compliant movements.…”

Section: Motorizedmentioning

confidence: 99%

A Review of End-Effector Research Based on Compliance Control

Dai

Xiang

et al. 2022

Machines

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The end-effector is a key device for direct contact and operation between the operator and the workpiece, and its mechanical structure will directly affect the quality of the machine and expand its application. The theoretical research and technical implementation of the end-effector for compliance control are facing a lot of urgent challenges to be solved, therefore, the research results of active compliance control of robot end-effectors have a very broad application prospect. This paper describes the design and research results of different end-effectors under impedance-based control, hybrid force/position control, and intelligent flexible control methods, respectively. Under each control method, the structural characteristics and the optimized control scheme under different drives are introduced. Finally, key techniques for achieving compliance control are derived by summarizing, which broadens the engineering applications and provides methods and ideas for future research.

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“…In 1993, Perdereau, V proposed a hybrid robot position control scheme. Subsequently, Zhou et al proposed a hybrid control strategy of a grinding robot based on adaptive impedance control [ 32 ]. Tian, Y et al [ 33 ] recently designed a fuzzy force controller that imitates human behavior in the process of rust removal.…”

Section: Development History Of Grinding Processmentioning

confidence: 99%

“…Zhu et al proposed a dynamic control method based on a one-dimensional force sensor PID controller. The roughness of the polished surface Ra < 0.4 μm, the material removal depth is more stable, the deviation remains at 0.003 mm, and the mean square deviation at 40 N is 0.37 N [ 32 ].…”

Section: Development History Of Grinding Processmentioning

confidence: 99%

Analysis of Current Situation, Demand and Development Trend of Casting Grinding Technology

Liang

Qiao

2022

Micromachines

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Although grinding is essential in the production of castings, the casting grinding process in manufacturing is complicated and there are many difficulties, such as the large amount of noise in the grinding environment, non-structural casting entities, and the inclination in the overall shape–time variation. Even in the face of complex technology and a variety of difficulties, modern casting grinding technology still demands large-batch production, low cost, fast response, thin brittleness, high precision, etc. The grinding process has a long history. This paper focus on its development from a human-operated, mechanical job, to an automatic grinding task based on compliant control theory. However, the methods mentioned above can no longer satisfy the current production need. In recent years, researchers have proposed intelligent grinding methods to meet the needs of modern casting production, and provided various strategies and alternatives to the challenges of machining accuracy, machining efficiency, and surface consistency. The research direction of casting polishing has mainly focused on online robot detection, material removal prediction, constant grinding contact force control, and high-precision matching. Although applications for online detection and constant grinding contact force control exist in industry, there are challenges in material removal prediction and three-dimensional high-precision matching. This paper also compares and analyzes the advantages and disadvantages of different grinding methods, and puts forward some research directions for future work, so as to promote more intelligent and efficient grinding of complex castings in practical application.

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A hybrid control strategy for grinding and polishing robot based on adaptive impedance control

Cited by 39 publications

References 22 publications

Research on the application of impedance control in flexible grasp of picking robot

Research on the application of impedance control in flexible grasp of picking robot

A Review of End-Effector Research Based on Compliance Control

Analysis of Current Situation, Demand and Development Trend of Casting Grinding Technology

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