智能系统学报2026，Vol.21Issue(2)：444-452,9.DOI:10.11992/tis.202506024
3D视觉引导的机械臂力控曲面打磨方法
Force-controlled robotic polishing of curved surfaces with 3D vision
摘要
Abstract
To address the issues of over-grinding and under-grinding caused by the interaction between geometric inac-curacies and contact forces in complex surface grinding,this study proposes a vision-guided and six-dimensional force-controlled collaborative adaptive grinding method for robotic arms.The system collects real-time point cloud data of the workpiece surface using a 3D structured light camera to generate the initial grinding trajectory,while a six-dimensional force sensor acquires contact force/moment information to dynamically adjust the end-effector pose for compensating surface geometric deviations.A hierarchical control architecture is adopted to achieve collaboration between global vis-ion-based trajectory planning and local force-controlled fine-tuning.Torque feedback is utilized to suppress tool slip-page and improve surface conformity.Additionally,virtual stiffness is adjusted online based on point cloud curvature to avoid overload.In grinding experiments on complex curved workpieces,compared to methods relying solely on visual trajectory tracking or force control,this study significantly reduces Ra to 0.8 μm,decreases force tracking error by 62％,and effectively eliminates contact loss caused by initial pose deviations.关键词
3D视觉/六维力传感器/力控/曲面打磨/分层控制/曲率驱动/导纳控制/机械臂Key words
3D vision/six-axis force sensor/force control/curved surface polish/hierarchical control/curvature-driven/admittance control/manipulator分类
信息技术与安全科学引用本文复制引用
万里红,林杰,刘娜,张泽阳,吴国栋,蒋远东..3D视觉引导的机械臂力控曲面打磨方法[J].智能系统学报,2026,21(2):444-452,9.基金项目
国家重点研发计划项目(2023YFC3605800) （2023YFC3605800）
河南省重点研发专项项目(251111220500). （251111220500）
