Research and Development of Robotic Grinding and Polishing Process Parameter Adaptive Control System
DOI:
https://doi.org/10.71451/ISTAER2557Keywords:
Robotic grinding and polishing; Process parameters; Adaptive control; Force control; Intelligent regulation; System developmentAbstract
With the increasing demands for surface quality in intelligent manufacturing, robotic grinding and polishing technology has become a key solution due to its flexibility. However, traditional robotic grinding and polishing based on fixed parameters struggles to cope with process disturbances such as workpiece geometric errors and tool wear, leading to unstable processing quality. Therefore, this study focuses on the research and development of an adaptive control system for robotic grinding and polishing process parameters. This paper first analyzes the grinding and polishing process mechanism and adaptive control theory, constructing a robot-workpiece-tool interactive dynamics model and a process model based on contact force. Then, a core algorithm based on high-precision force or position hybrid control and incorporating a fuzzy adaptive strategy is designed, realizing the dynamic optimization of key parameter control for feed rate and spindle speed based on real-time force feedback. At the system implementation level, a hardware platform is constructed by integrating an industrial robot, a six-dimensional force sensor, and a grinding and polishing spindle, and a software system with real-time control and human-machine interaction functions is developed. Experimental results show that, compared with fixed parameter grinding and polishing, this system can reduce the range of surface roughness (Ra) by about 40%, and exhibits excellent material removal uniformity and strong robustness to changes in working conditions in the processing of complex curved surfaces, effectively verifying the advanced nature and engineering application potential of the proposed method and system.
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