Robotic Polishing of Unknown-Model Workpieces With Constant Normal Contact Force Control

Industrial robots are increasingly being considered for application in performing polishing operations. Most research has been performed on workpieces with a priori (CAD) model, and used impedance control or hybrid force-position control to achieve constant force operation. For workpieces without pr...

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Bibliographic Details
Published in:IEEE/ASME transactions on mechatronics 2023-04, Vol.28 (2), p.1-11
Main Authors: Li, Jian, Guan, Yisheng, Chen, Haowen, Wang, Bing, Zhang, Tao
Format: Article
Language:English
Subjects:
Active control
Algorithms
Constant normal contact force
Contact force
Control algorithms
Control methods
Control theory
Cooperative control
Deviation
Force
Force control
Industrial robots
intelligent manufacturing
macro-mini robotic system
Polishing
Real time
Robot control
Robot kinematics
robotic polishing
Robotics
Robots
Service robots
Solid modeling
Surface treatment
unknown-model workpiece
Workpieces
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Summary:Industrial robots are increasingly being considered for application in performing polishing operations. Most research has been performed on workpieces with a priori (CAD) model, and used impedance control or hybrid force-position control to achieve constant force operation. For workpieces without priori models, it is still difficult to maintain a constant normal contact force during the polishing process. To address this challenge, this paper proposes a cooperative force-position control method consisting of three parts: constructing a model between contact forces and robotic poses during polishing operations and obtaining a real-time pose deviation of the current tool-workpiece contact state and the desired (normal) contact state; based on the deviation, a method of real-time adjustment of 2D predefined polishing paths to 3D actual polishing paths is proposed; finally, constant normal contact force control is achieved by a direct force control algorithm based on the results obtained from the above method. The proposed method is based on a macro-mini robotic system with an active force control polishing device, and its effectiveness was tested by various unknown-model workpiece polishing scenarios. The results demonstrate that the proposed method can achieve stable normal force tracking and high-quality surfaces during unknown-model workpiece polishing.
ISSN:1083-4435
1941-014X
DOI:10.1109/TMECH.2022.3216314