Robot Machining Method Bases on Dynamic System and Compliant Control

Abstract

This paper proposes a force control strategy based on velocity modulation and impedance control algorithm to address unstable contact problem between the tool and workpiece in machining. In many application scenarios of industrial robots, contact force is required to some extent. Therefore, a force control component guarantees that robot can maintain stable contact force with the predetermined trajectory and react in the rapidly changing environment. The position controller is used to adjust the movement of the robot. During movement, position controller combined with speed-based impedance control can compensate for the uncertainty of controller and robot Meanwhile, the velocity of the robot is controlled in the velocity modulation subspace to reduce the vibration force in contact, thus the contact overshoot decreases and the machining accuracy of the workpiece is improved. Evaluations through non-contact to contact transition experiment indicates that low contact vibration and reliable position/force control can be achieved by this proposed controller.