Model and Experimental Study of Impedance Control System for Robot Grinding and Polishing

Grindingis an important processing procedure in the production process of workpiece, and industrial robots are widely used in the field of grinding and polishing workpiece by relying on its freedom and expansibility. However, since the fiber direction of the workpiece and the robot end grinding tool need to maintain a certain angle, and because of the error between actual surface profile and the model, it is difficult to ensure the constant grinding and polishing force during the robot operation, affecting the uniformity of the surface process. In this paper, a set of robot impedance control model with constant grinding force and high precision is designed based on simulation, and experimental research is carried out, which provides a foundation for the research of robot grinding flexible control system with workpiece model generating tool path.