Suppress Vibration on Robotic Polishing with Impedance Matching

Installing force-controlled end-effectors on the end of industrial robots has become mainstream method for robot force control. Additionally, during polishing process, contact stability an important impact quality. However, due to difference between structure and end-effector, in operation, direct control will have transition from noncontact tool workpiece. Although impedance can solve this problem, still produce vibrations with high inertia low stiffness. Therefore, research proposes matching strategy based traditional methods improve problem. This method’s primary purpose is avoid vibration phase maintain force–tracking performance dynamic tracking phase. Simulation experimental results show that smoothly track reduce compared