Robot polishing force hybrid control method and system for large-curvature complex structure

By combining the control of robot feed speed and compliance device with Newton-Euler and Hertz contact theory, the robot end-effector pose is adjusted in real time, solving the accuracy and consistency problems in the grinding and polishing process of large and complex components, and realizing efficient and precise grinding.

CN118181144BActive Publication Date: 2026-06-02WUHAN UNIV
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Patent Information

Authority / Receiving Office
CN Β· China
Patent Type
Patents(China)
Current Assignee / Owner
WUHAN UNIV
Filing Date
2024-03-22
Publication Date
2026-06-02

AI Technical Summary

Technical Problem

Existing technologies struggle to effectively address the issues of precision and consistency in grinding and polishing large and complex components, especially under conditions of large curvature variations. The robot end-effector response is slow, and it fails to accurately account for the impact of positional differences between the actual and theoretical processing points and curvature changes on the grinding process.

Method used

A hybrid control method combining robot feed speed and end effector compliance is adopted. By combining the Newton-Euler equation and Hertz contact theory, a relationship model between grinding curvature and ideal grinding force is established. A single-neuron adaptive PID algorithm is introduced, which describes the robot end effector posture through Euler angles and adjusts the robot end effector pose and contact force in real time to achieve hybrid force-position-velocity control.

Benefits of technology

It improves the control precision of grinding contact force, reduces grinding tool waste, achieves precise removal of small allowances, improves processing efficiency and quality, reduces processing errors and unevenness, and ensures the stability and consistency of the processing process.

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Abstract

The application discloses a robot polishing and grinding force hybrid control method and system for a large-curvature complex structure. The method comprises the following steps: establishing a functional relationship among the robot end contact force, the soft device output force, the friction force, and the end load by using Newton-Euler equation, and establishing a relationship model related to the material removal rate and a relationship model between the grinding curvature and the ideal polishing force by using Hertz contact theory; establishing a geometric relationship model among the robot end posture, the soft device inclination, and the workpiece surface curvature by using Euler angle method; introducing a PID algorithm to adjust the pose of the robot end adhesion state; adopting different force control modes for different stages of robot operation, real-time controlling the polishing process, and optimizing the robot operation performance. The application can comprehensively optimize the robot feed speed, the process parameters, and the end soft device hybrid control in the robot polishing and grinding process, so as to realize small-amount precise removal of the large-curvature complex structure.
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