Study on System Design and Control Methods of Polishing Robot System
A design method is presented for a polishing robot in unstructured working environment. Setting up a structure model of the polishing system, and the operation principle and control method are described. The human-simulated intelligent control method is applied to the control of contact force in unstructured environment, because of the uncertainty, variability and unstructured of the environment. The basic idea of the intelligent control method is based on the size of error and change direction of control variables. The conditions of the control rules and control decision are inferred by forward reasoning. The HSIC controlling function is achieved, which can strengthen people energy to revise and control the interaction force and position of the end-effector.
Kai Cheng, Yongxian Liu, Xipeng Xu and Hualong Xie
Z. Luo et al., "Study on System Design and Control Methods of Polishing Robot System", Applied Mechanics and Materials, Vols. 16-19, pp. 1370-1376, 2009