Admittance control design and system testing of industrial robot polishing operation

Abstract

The control strategy is established with position control as the inner loop and admittance control the outer loop to solve the smooth contact force problem in faucet polishing operation. To avoid the excessive polishing, the parameter sensitivity is also introduced. Firstly, the system model and the controller are presented, the sensitivity of the parameter is calculated, and the effect of the admittance parameters on the output of the system is analyzed. Secondly, through the simulation of position control and admittance control, the change of the contact force between the robot end actuator and the external environment is analyzed, which shows that the proposed control strategy improves the accuracy of position control by 3.0% and guarantees that the contact force between the manipulator and the environment is close to the expected value. Finally, the polishing experiment is carried out on an industrial robot. The experimental results show that the control strategy can well control the contact force in the polishing process of the faucet.