PD-fuzzy adaptive force tracking impedance control for grinding and polishing robots in dynamic environments

doi:10.16731/j.cnki.1671-3133.2025.04.007

Abstract

Abstract: Aiming at the problem that it is difficult to accurately track and control the desired contact force in the dynamic environment of the grinding and polishing robot,a PD-fuzzy adaptive force tracking impedance control method was studied based on the adaptive impedance control model. Fuzzy control was used to dynamically adjust the update rate in the adaptive impedance control,and the time was adjusted by increasing PD control before the impedance control,in order to realise the accurate tracking and control of the desired contact force under the dynamic environment,and to ensure the quality of grinding and polishing processing. By setting up simulation with six environmental parameter variations,the investigated PD-fuzzy adaptive impedance controller was compared with the traditional impedance controller,adaptive impedance controller and fuzzy adaptive impedance controller,and the results show that the investigated PD-fuzzy adaptive impedance controller can maintain a shorter adjustment time and smaller overshooting in the collision contact phase while keeping a smaller steady-state error in the smooth contact phase,and it can achieve better contact force tracking compared to the other three kinds of controllers.

Key words: impedance control, robot, adaptive, fuzzy control, PD control, force tracking

CLC Number:

TP242

PU Qiushuang, LIU Guiping. PD-fuzzy adaptive force tracking impedance control for grinding and polishing robots in dynamic environments[J]. Modern Manufacturing Engineering, 2025, 535(4): 61-68.

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