中国机械工程2025，Vol.36Issue(5)：1028-1034,7.DOI:10.3969/j.issn.1004-132X.2025.05.014
基于模糊阻抗控制的机器人气囊抛光恒力控制系统研究
Research on Constant Force Control System of Robot Bonnet Polishing Based on Fuzzy Impedance Control
摘要
Abstract
In order to keep the contact force constant during the bonnet polishing processes,a fuzz-y impedance control robot bonnet polishing constant force control system was designed which might adjust the damping coefficient in real time,and the simulations of the robot bonnet polishing constant force control system were carried out.The simulation results show that the system has good contact force convergence.The polishing experiments of planar and curved optical components and the con-trast polishing experiments of force/position actuators were carried out.The experimental results show that the system may realize the constant control of the contact forces during the bonnet polis-hing,and the force fluctuation ranges may be controlled within 3 N.The control system may effec-tively control the fluctuation ranges of the contact forces in the field of robot bonnet polishing,and ensure the consistency of surface precision for the machined workpieces.关键词
气囊抛光/工业机器人/恒力控制/阻抗控制Key words
bonnet polishing/industrial robot/constant force control/impedance control分类
矿业与冶金引用本文复制引用
李路骋,王振忠,黄雪鹏..基于模糊阻抗控制的机器人气囊抛光恒力控制系统研究[J].中国机械工程,2025,36(5):1028-1034,7.基金项目
国家自然科学基金(52075462) （52075462）
