Adaptive robotic polishing based on distributed flexible force sensors

Abstract

Force control plays a critical role in the robotic polishing process. Traditional force control methods primarily emphasize regulating the precise contact force value while paying limited attention to the distribution of force within the contact surface. Drawing inspiration from manual polishing techniques that employ tactile sensing, this study introduces an innovative robotic adaptive polishing system incorporating distributed flexible sensors. The experimental platform was developed based on robot and distributed flexible sensor to measure distributed contact force, and a force value and distribution state tracking control strategy is introduced to achieve stable and desired contact force value along with uniform force distribution state. The system's efficacy was rigorously evaluated through both virtual simulations and experimental validations, which confirmed its superior tracking performance. Comparative machining experiments further substantiated that the proposed strategy significantly enhances surface quality consistency over traditional methods. This approach has significant potential for further development, particularly in robotic polishing or other force control applications involving contact areas.