Research on fuzzy impedance force control technology of robot-assisted abrasive cloth wheel polishing blade

Industrial-robot assisted abrasive cloth wheel polishing blades aim to reduce surface roughness and improve machining consistency of blades. Since the blade is the complex free-form surface, the blade surface after offline programming has "over-polishing," "under-polishing," and machining allowance uneven phenomenon. In this paper, fuzzy impedance force control technology is proposed to solve the precision problem in the blade polishing process. First, the position-based impedance control algorithm is analyzed, and reasonable impedance parameters are obtained based on the actual robot model. Then, the fuzzy variable impedance control combining fuzzy theory and impedance control is proposed to solve the problems of poor trajectory tracking ability and force instability, when the traditional impedance control faces environmental changes and unknown environments. Finally, the simulation platform is built with the help of MATLAB Simulink tool to verify the effectiveness and rationality of the strategy, and the comparative experiment is conducted for robot-assisted abrasive cloth wheel polishing blade under fuzzy variable impedance force control and without force control. The results show that after superimposing the displacement compensation controlled by the fuzzy variable impedance force on the blade surface, the blade surface roughness is below 0.4 mu m, the polishing machining allowance is within +/- 0.06 mm, and the uniformity and consistency of the blade polishing surface are better.