Study on the Fuzzy-PID Policy for Force Control in Free-Form Surfaces Polishing by Robots

Xiao Ling Su; Jian Ming Zhan

doi:10.4028/www.scientific.net/AMM.101-102.422

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 101-102Study on the Fuzzy-PID Policy for Force Control in...

Study on the Fuzzy-PID Policy for Force Control in Free-Form Surfaces Polishing by Robots

Abstract:

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.

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Periodical:

Applied Mechanics and Materials (Volumes 101-102)

Pages:

422-426

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.101-102.422

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Cite this paper

Online since:

September 2011

Authors:

Xiao Ling Su, Jian Ming Zhan

Keywords:

Force Control, Freeform Surfaces, Fuzzy PID, Polishing Robot

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