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Design and implementation of hybrid force/position control for robot automation grinding aviation blade based on fuzzy PID
Zhang HY(张洪瑶)1,2,3; Li L(李论)1,2; Zhao JB(赵吉宾)1,2; Zhao JC(赵敬川)1,2,3; Liu SJ(刘速杰)1,2,3; Wu JJ(吴嘉俊)1,2,3
Department工艺装备与智能机器人研究室
Corresponding AuthorZhao, Jibin(jbzhao@sia.cn)
Source PublicationInternational Journal of Advanced Manufacturing Technology
ISSN0268-3768
2020
Pages1-14
Indexed BySCI ; EI
EI Accession number20201208312998
WOS IDWOS:000518479800001
Contribution Rank1
Funding OrganizationNational Natural Science Foundation of ChinaNational Natural Science Foundation of China [51775542] ; National Key Research and Development Program of China [2016YFB1100502]
KeywordGravity compensation Automation grinding Fuzzy PID Hybrid force position control Aviation blade
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.

Language英语
WOS SubjectAutomation & Control Systems ; Engineering, Manufacturing
WOS Research AreaAutomation & Control Systems ; Engineering
Funding ProjectNational Natural Science Foundation of China[51775542] ; National Key Research and Development Program of China[2016YFB1100502]
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/26561
Collection工艺装备与智能机器人研究室
Corresponding AuthorZhao JB(赵吉宾)
Affiliation1.State Key Laboratory of Robotics, Chinese Academy of Sciences, Shenyang Institute of Automation, Shenyang 110016, China
2.Chinese Academy of Sciences, Institutes for Robotics and Intelligent Manufacturing, Shenyang 110169, China
3.University of Chinese Academy of Sciences, Beijing 100049, China
Recommended Citation
GB/T 7714
Zhang HY,Li L,Zhao JB,et al. Design and implementation of hybrid force/position control for robot automation grinding aviation blade based on fuzzy PID[J]. International Journal of Advanced Manufacturing Technology,2020:1-14.
APA Zhang HY,Li L,Zhao JB,Zhao JC,Liu SJ,&Wu JJ.(2020).Design and implementation of hybrid force/position control for robot automation grinding aviation blade based on fuzzy PID.International Journal of Advanced Manufacturing Technology,1-14.
MLA Zhang HY,et al."Design and implementation of hybrid force/position control for robot automation grinding aviation blade based on fuzzy PID".International Journal of Advanced Manufacturing Technology (2020):1-14.
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