Research on Constant Force Control System of Robot Bonnet Polishing Based on Fuzzy Impedance Control

doi:10.3969/j.issn.1004-132X.2025.05.014

Abstract

Abstract: In order to keep the contact force constant during the bonnet polishing processes， a fuzzy 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 contrast 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 polishing， and the force fluctuation ranges may be controlled within 3 N. The control system may effectively 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.

Key words: bonnet polishing, industrial robot, constant force control, impedance control

摘要： 为保证气囊抛光过程中的接触力恒定，设计了能够实时调节阻尼系数的模糊阻抗控制机器人气囊抛光恒力控制系统，进行了机器人气囊抛光恒力控制系统仿真，仿真结果表明该系统具有较好的接触力收敛效果。开展了平面光学元件和曲面光学元件抛光实验、力/位执行器对比抛光实验，实验结果表明该系统实现了气囊抛光时接触力的恒定控制，可将力波动范围控制在3 N以内。该控制系统在机器人气囊抛光领域能够有效控制接触力的波动范围，保证加工后工件表面精度的一致性。

关键词: 气囊抛光, 工业机器人, 恒力控制, 阻抗控制

CLC Number:

TG749

LI Lucheng, WANG Zhenzhong, HUANG Xuepeng. Research on Constant Force Control System of Robot Bonnet Polishing Based on Fuzzy Impedance Control[J]. China Mechanical Engineering, 2025, 36(05): 1028-1034.

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(05): 1028-1034.

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