Xianjun Sheng, Lei Xu, and Zhou Wang
Robot control; compliant motion strategy; trajectory prediction;position-based explicit force control
In the mirror milling process of large thin-walled parts, maintaining aconstant supporting force is crucial for improving the workpiece localstiffness to suppress vibration. Aiming at the flexible characteristicsof large thin-walled parts, this work presents a position-based forceexplicit control strategy based on online trajectory prediction. Anonline trajectory pre-modification force controller is proposed, itcontains a position pre-modification module and a typical feedbackcontroller for coarse adjustment and precise adjustment. Theposition pre-modification value is obtained by online trajectoryprediction, and the prediction method relies on an online forceand normal direction measurement system. The position pre-modification module can reduce the interference of the flexiblecharacteristics on the force control. Numerical simulation andexperiment are carried out, the control results show: the performanceof dynamic force tracking method proposed is improved comparedwith the traditional position-based explicit control strategy with atypical feedback controller.
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