A Review of Robot Grinding and Polishing Force Control Mode

摘要

The working conditions in grinding and polishing operations are complex and harsh, and it is gradually becoming a trend to replace manual grinding and polishing with robots. This paper firstly introduces the relevant concepts of force control of grinding and polishing robots, including two modes of robot force control, and then elaborates the development of intelligent algorithms of hybrid force-position control and impedance control. Finally, key technical difficulties and challenges of robot grinding and polishing technology are summarized and the future development trend is foreseen.