The application discloses a curved surface adaptive
polishing method and device, equipment and readable storage medium, comprising: scanning a workpiece to be polished, and constructing an
initial curve model; planning an initial
polishing track based on the
initial curve model; controlling a
robot to polish the workpiece to be polished based on the initial
polishing track and preset initial polishing parameters, wherein the initial polishing parameters comprise a
normal force target value and a feed speed; acquiring visual features, force
sensation features and auditory features in a polishing process in real time; obtaining fusion features based on the visual features, the force
sensation features and the auditory features; adjusting the
normal force target value, the feed speed and the polishing track in real
time based on the fusion features; returning to execute the step of controlling the
robot to polish the workpiece to be polished until polishing is completed. The application adjusts the
normal force target value, the feed speed and the polishing track in the polishing process by acquiring the visual features, the force
sensation features and the auditory features in real time, so that the
robot realizes curved surface adaptive polishing.