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Suppress Vibration on Robotic Polishing with Impedance Matching
| Content Provider | MDPI |
|---|---|
| Author | Dai, Junjie Chen, Chin-Yin Zhu, Renfeng Yang, Guilin Wang, Chongchong Bai, Shaoping |
| Copyright Year | 2021 |
| Description | Installing force-controlled end-effectors on the end of industrial robots has become the mainstream method for robot force control. Additionally, during the polishing process, contact force stability has an important impact on polishing quality. However, due to the difference between the robot structure and the force-controlled end-effector, in the polishing operation, direct force control will have impact during the transition from noncontact to contact between the tool and the workpiece. Although impedance control can solve this problem, industrial robots still produce vibrations with high inertia and low stiffness. Therefore, this research proposes an impedance matching control strategy based on traditional direct force control and impedance control methods to improve this problem. This method’s primary purpose is to avoid force vibration in the contact phase and maintain force–tracking performance during the dynamic tracking phase. Simulation and experimental results show that this method can smoothly track the contact force and reduce vibration compared with traditional force control and impedance control. |
| Starting Page | 59 |
| e-ISSN | 20760825 |
| DOI | 10.3390/act10030059 |
| Journal | Actuators |
| Issue Number | 3 |
| Volume Number | 10 |
| Language | English |
| Publisher | MDPI |
| Publisher Date | 2021-03-14 |
| Access Restriction | Open |
| Subject Keyword | Actuators Manufacturing Engineering Macro-mini Manipulator End-effector Force Control Impedance Control Impedance Matching Vibration Suppression |
| Content Type | Text |
| Resource Type | Article |
