Research on robot grinding force tracking control based on MRAC+PID algorithm

doi:10.16731/j.cnki.1671-3133.2024.04.008

Modern Manufacturing Engineering ›› 2024, Vol. 523 ›› Issue (4): 57-65.doi: 10.16731/j.cnki.1671-3133.2024.04.008

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Research on robot grinding force tracking control based on MRAC+PID algorithm

HU Fengbao^1,2,3, DAI Shijie^1,2, JI Wenbin^1,2, LIU Shuyuan^1,2

1 School of Mechanical Engineering,Hebei University of Technology,Tianjin 300401,China;
2 Hebei Key Laboratory of Robot Perception and Human Machine Fusion, Hebei University of Technology,Tianjin 300401,China;
3 China Institute of Atomic Energy,Beijing 102413,China

Received:2023-03-22 Online:2024-04-18 Published:2024-05-31

Abstract

Abstract: To solve the problems of inaccurate modeling of the end-effector pneumatic system and poor stability of grinding force caused by external environment interference during grinding of aluminium alloy wheel hub,a hybrid control strategy of MRAC+PID was proposed to achieve tracking control of grinding force.Firstly,the end-effector was modeled and analyzed.Then,the MRAC+PID control strategy was used to control the end-effector,in which the adaptive control law was designed by constructing the Lyapunov function.Finally,the effectiveness of the proposed method was verified by simulation and experiment.The results show that MRAC+PID has good control performance in improving the response speed and anti-interference of the system,which can track the desired grinding force quickly and accurately and improve the surface grinding quality of aluminum alloy wheel hub.

Key words: robot grinding, aluminum alloy wheel hub, MRAC+PID control, grinding force control

CLC Number:

TH16

HU Fengbao, DAI Shijie, JI Wenbin, LIU Shuyuan. Research on robot grinding force tracking control based on MRAC+PID algorithm[J]. Modern Manufacturing Engineering, 2024, 523(4): 57-65.

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Research on robot grinding force tracking control based on MRAC+PID algorithm

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