A hybrid control strategy for grinding and polishing robot based on adaptive impedance control

In order to realize the active and compliant motion of robot, it is necessary eliminate impact caused by processing contact. A hybrid control strategy for grinding polishing robot proposed based on adaptive impedance control. Firstly, an electrically driven linear end effector designed system. The macro micro motions model established, using method, which contact system environment. Secondly, compliance method adopted establish force position tracking strategies under conditions. Finally, algorithm verified Simulink simulation experiment. results are as follows: error does not exceed 0.009 m, steady-state less than 1 N. experimental show that curve coincides with surface morphology workpiece, stable at 10 ± 3 can more accurate tracking, provide a reference processing.