Study on the Fuzzy-PID Policy for Force Control in Free-Form Surfaces Polishing by Robots
When a robot is used to polish or finish a curved surface, both feed movement and contact force have to be controlled at the same time so that the polishing tool would machine its work-piece at the right position in right posture with required force. In this paper, a passive wrist system is developed to adapt the shape of the machining curved surface by changing its posture along with the surface. And under the Fuzzy-PID policy, polishing force is controlled at a stable value in the normal direction of the named machining point while the polishing tool moving along the curved surface by multi-point machining. It means that the passive wrist system and the model of the surroundings could be used in force controlling when robots polish free-form surfaces with multi-point machining by a grinding ring.
Di Zheng, Yiqiang Wang, Yi-Min Deng, Aibing Yu and Weihua Li
X. L. Su and J. M. Zhan, "Study on the Fuzzy-PID Policy for Force Control in Free-Form Surfaces Polishing by Robots", Applied Mechanics and Materials, Vols. 101-102, pp. 422-426, 2012