Xianjun Sheng, Lei Xu, and Zhou Wang
Robot control; compliant motion strategy; trajectory prediction;position-based explicit force control
In the mirror milling process of large thin-walled parts, maintaining a constant supporting force is crucial for improving the workpiece local stiffness to suppress vibration. Aiming at the flexible characteristics of large thin-walled parts, this work presents a position-based force explicit control strategy based on online trajectory prediction. An online trajectory pre-modification force controller is proposed, it contains a position pre-modification module and a typical feedback controller for coarse adjustment and precise adjustment. The position pre-modification value is obtained by online trajectory prediction, and the prediction method relies on an online force and normal direction measurement system. The position pre- modification module can reduce the interference of the flexible characteristics on the force control. Numerical simulation and experiment are carried out, the control results show: the performance of dynamic force tracking method proposed is improved compared with the traditional position-based explicit control strategy with a typical feedback controller.
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