Design of an Adaptive Force Controlled Robotic Polishing System Using Adaptive Fuzzy-PID

In this paper, we designed the robotic polishing system for industrial polishing needs. The current robot polishing techniques are available for objects with CAD geometric models, but for an object whose geometric model is unavailable such as ceramic or clay pots, it is still a puzzle to derive robot polishing trajectories and force control. In our paper we designed a polishing system to polish any arbitrary objects by providing a rough robot trajectory and the polishing system will adjust its trajectory to maintain the desired contact force on the object. To perform the desired force tracking, the polishing system adopted an adaptive Fuzzy-PID controller to regulate its parameters and then actuated a stepper motor mounted on the tip center of the robot to the desired contact force. The designed system is capable to track the force with the overshoot less than 0.2N and the response time less than 40 ms. The results dictated that the proposed controller is efficient in tracking the desired force with the indication of good polishing quality.