Precise compliant force control method of polishing robot under environment uncertainty

By combining adaptive impedance control and optimal control algorithm, a dual closed-loop model of environment-robotic arm is established. The optimal control gain is solved iteratively by adaptive dynamic programming. Free space control gain and smooth transition mechanism are designed to solve the contact force control problem of grinding and polishing robot under uncertain environment, realize precise compliant force control, and improve processing accuracy and stability.

CN120791812BActive Publication Date: 2025-11-11HANGZHOU INTERNATIONAL INNOVATION INSTITUTE OF BEIHANG UNIVERSITY
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Patent Information

Application Number
CN202511311990.5
Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Filing Date
2025-09-15
Publication Date
2025-11-11
Estimated Expiration
2045-09-15

AI Technical Summary

Technical Problem

Existing grinding and polishing industrial robots struggle to achieve precise compliant force control under uncertain environmental conditions, leading to contact force overshoot or transient instability, which affects processing quality and consistency. This is especially true in grinding and polishing tasks involving complex environments and flexible materials, where it is difficult to balance the stability and precision of force control.

Method used

By combining adaptive impedance control and optimal control algorithm, a dual closed-loop control model of environment-robotic arm is established. The optimal control gain is solved iteratively using adaptive dynamic programming (ADP). Free space control gain and smooth transition mechanism are designed to achieve stability and accuracy of contact force.

Benefits of technology

To achieve precise and compliant force control for grinding and polishing tasks under uncertain environmental conditions, improve processing accuracy and stability, adapt to various complex working environments, and balance the real-time performance and robustness of the system.

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Abstract

This invention relates to the field of intelligent control technology for industrial robots, and discloses a precise compliant force control method for a grinding and polishing robot under uncertain environmental conditions. The method includes establishing a dual-closed-loop control model of the environment and the robotic arm based on a set linear environment model and a robotic arm dynamics model; iteratively solving for the optimal control gain in a data-driven manner based on adaptive dynamic programming for the unknown environmental characteristics in the control model; designing a free-space control gain to achieve stable relative motion approaching the environment; designing a smooth transition mechanism for the free-contact space control gain; achieving model-free optimal control based on data iteration through adaptive dynamic programming; employing dual-closed-loop impedance control to achieve the impedance effect of the force; and utilizing contact transient impact modeling to dynamically adjust the control gain, ensuring the stability of the contact force and processing quality, making it suitable for various complex working environments.
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