Research on Gridding Robots Based on Compliant Device Force Control

Abstract

In order to improve the precision of complex curved surfaces manufacturing and prevent workers from metal dust pollution, a force-controlled based compliant device is modeled, which is mounted between the end of industry robot and polishing tools. Due to force measuring device is not available in the system, it is necessary to calibrate the output force of compliant device. A cylinder force calibration method divided into static and dynamic two parts is provided. Meanwhile, a ’planning + control‘ framework is proposed and a feedback linearization based robust control method is applied to guarantee the stability of the system. Both simulation experiment and actual grinding experiment are performed to verify the effectiveness of proposed algorithm.