The invention discloses a
casting cleaning
robot force control method based on self-adaptive
impedance control, and the method comprises the steps: collecting and obtaining a plurality of groups of characterization working forces of a
casting cleaning
robot end tool under different poses through a six-dimensional
force sensor, so as to obtain the actual working force of the
casting cleaning
robot end tool; obtaining a given position and a given
workload of the casting cleaning robot, and obtaining a force deviation value of the casting cleaning robot based on the constructed force
adaptive control model; and constructing a force
impedance control model, obtaining the position deviation of the end tool of the casting cleaning robot according to the force deviation value, compensating the position deviation to a given position of the casting cleaning robot by adopting an
inverse kinematics method, and adjusting according to the end tool track of the casting cleaning robot. And the working force of the
tail end tool of the casting cleaning robot is controlled until the position deviation is completely eliminated. The problems that in an existing casting cleaning process, the
tail end working force cannot be accurately controlled, and the casting robot is poor in casting cleaning quality and low in casting cleaning efficiency are solved.