Terminal sliding mode admittance control of surface polishing robot based on trajectory correction

被引：0
作者：
Chen M. [1 ]
Zhu Y. [1 ]
Han T. [1 ]
Zhu Z. [1 ]
机构：
[1] School of Mechanical and Electrical Engineering, Wuhan University of Technology, Wuhan
来源：
Jisuanji Jicheng Zhizao Xitong/Computer Integrated Manufacturing Systems, CIMS | 2024年 / 30卷 / 02期
关键词：
admittance control; high-precision; multi-axis tool location; terminal sliding mode control; trajectory correction;
D O I：
10.13196/j.cims.2021.0654
中图分类号：
学科分类号：
摘要：
In view of the poor stability of the traditional polishing robot force control algorithm in the position inner loop control, and to reduce the polishing trajectory error caused by the switching of force / position control algorithms, a terminal sliding mode admittance control method based on trajectory correction was proposed. In the polishing process, the position correction was generated according to the difference between the feedback parameters of the force sensor and the expected force acting on the admittance model. Then, the terminal sliding mode control model was designed as the position inner loop control link, and the trajectory was tracked through the real-time feedback of the position correction. The actual trajectory information was used to modify the planning trajectory to reduce the polishing force error, so as to achieve high precision polishing effect. Simulation and experiments showed that the terminal sliding mode admittance control had good control effect. After the trajectory was corrected, the polishing force error was significantly improved compared with that before correction. The polished model showed that the average deviation of contour arithmetic was 0.035 μm. The polishing quality had been significantly improved. © 2024 CIMS. All rights reserved.
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页码：593 / 600
页数：7
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