Precise and smooth contact force control for a hybrid mobile robot used in polishing |
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| Affiliation: | 1. The State Key Laboratory of Tribology in Advanced Equipment, Department of Mechanical Engineering (DME), Tsinghua University, Beijing 100084, China;2. Beijing Key Lab of Precision/Ultra-precision Manufacturing Equipments and Control, Tsinghua University, Beijing 100084, China;1. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China;2. Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China;3. School of Mechanical and Electrical Engineering, Shenyang Aerospace University, Shenyang 110136, China;1. School of Mechanical Engineering, Shandong University, Jinan 250061, PR China;2. Key Laboratory of High Efficiency and Clean Mechanical Manufacture at Shandong University, Ministry of Education, Jinan 250061, PR China |
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| Abstract: | Contact force is dominant in robotic polishing since it directly determines the material removal. However, due to the position and stiffness disturbance of mobile robotic polishing and the nonlinear contact process between the robot and workpiece, how to realize precise and smooth contact force control of the hybrid mobile polishing robot remains challenging. To solve this problem, the force tracking error is investigated, which indicates that the force overshoot mainly comes from the input step signal and the environmental disturbance causes force tracking error in stable state. Accordingly, an integrated contact force control method is proposed, which combines feedforward of the desired force and adaptive variable impedance control. The nonlinear tracking differentiator is used to smooth the input step signal of the desired force for force overshoot reduction. Through modeling of the force tracking error, the adaptive law of the damping parameter is established to compensate disturbance. After theoretical analysis and simulation verification, the polishing experiment is carried out. The improvement in force control accuracy and roughness of the polished surface proves the effectiveness of the proposed method. Sequentially, the proposed method is employed in the polishing of a 76-meter wind turbine blade. The measurement result indicates that the surface roughness after mobile robotic polishing is better than Ra1.6. The study provides a feasible approach to improve the polishing performance of the hybrid mobile polishing robot. |
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