Research on Force/Position Hybrid Control Method for Cooperative Polishing of Dual Robots Based on Adaptive Impedance

Abstract

The collaboration of industrial robots in multiple-machine settings enhances adaptability for complex component machining. This paper focuses on a cooperative polishing system composed of two industrial robots. Addressing the challenge of maintaining a constant polishing force on the surface of a hub, we propose a dual robot cooperative polishing force/position hybrid control method based on an adaptive impedance control strategy. Recognizing the significant steady-state error in force tracking under unknown environmental changes in traditional impedance control, our approach involves the real-time adjustment of impedance parameters by adapting to variations in environmental stiffness, position, and other factors. This enables accurate and stable tracking of the desired polishing force. Simulation results validate the robustness of the proposed control algorithm against environmental changes. Additionally, practical experiments on dual robot cooperative polishing force control confirm that the adaptive impedance control strategy efficiently tracks the desired force, enhancing both polishing efficiency and quality.