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Design and implementation of hybrid force/position control for robot automation grinding aviation blade based on fuzzy PID
- Source :
- The International Journal of Advanced Manufacturing Technology. 107:1741-1754
- Publication Year :
- 2020
- Publisher :
- Springer Science and Business Media LLC, 2020.
-
Abstract
- The hybrid force/position control base on fuzzy proportional-integral-derivative (PID) is proposed to improve the quality of robotic automatic grinding aviation blades. First, the perception for the contact force/torque is discussed. A multi-source parameters gravity compensation matrix is established to identify the parameters through matrix reorganization. The contact force/torque is perceived according to the gravity compensation result. Then, the hybrid force/position control base on fuzzy PID is designed to realize active force control. Nevertheless, the sharp edge phenomenon occurs although the force control algorithm, which seriously affects the grinding quality of blades. Finally, the fusion control of force and torque is proposed to weaken the sharp edge phenomenon. The experiment proves that the introduction of torque control avoids effectively the sharp edge phenomenon. Meanwhile, comparing the proposed control algorithm with the traditional PID control, the results show that the proposed hybrid force/position control based on fuzzy PID can ensure the stability of the contact force and improve the quality of the aviation blades.
- Subjects :
- 0209 industrial biotechnology
Computer science
business.industry
Mechanical Engineering
PID controller
Gravity compensation
02 engineering and technology
Edge (geometry)
Automation
Fuzzy logic
Industrial and Manufacturing Engineering
Computer Science Applications
Grinding
Contact force
020901 industrial engineering & automation
Control and Systems Engineering
Control theory
Torque
Robot
business
Software
Subjects
Details
- ISSN :
- 14333015 and 02683768
- Volume :
- 107
- Database :
- OpenAIRE
- Journal :
- The International Journal of Advanced Manufacturing Technology
- Accession number :
- edsair.doi...........4d60a9fe2f37e54ddb594ffd0f789367