Research on Compliance Control for Industrial Robot Grinding

Research on Compliance Control for Industrial Robot Grinding

연구 분야: Infrastructure

학회: 2025 5th International Conference on Computer, Control and Robotics (ICCCR)

This paper investigates a position-based compliance control method for industrial robots during the polishing process of worm gear tooth surfaces. By establishing an impedance control model, the interaction between the robot's end effector and the environment is simplified into a mass-damper-spring system. A position-based control strategy is employed to effectively achieve trajectory tracking and dynamic force adjustment. The study constructs a simulation model for industrial robot polishing using MATLAB and Simulink, designing an inner loop based on PD control and an outer loop utilizing position-based impedance control. The impact of various combinations of impedance parameters on system performance is analyzed. Simulation results indicate that appropriately adjusting impedance parameters can optimize force tracking and compliance. Furthermore, this paper introduces a genetic algorithm for the optimization of impedance parameters, resulting in a set of optimal parameters that significantly enhance the system's control accuracy and response speed. The findings provide both theoretical and practical support for compliance control of industrial robots under complex operating conditions.