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Robot Grinding System Trajectory Compensation Based on Co-Kriging Method and Constant-Force Control Based on Adaptive Iterative Algorithm

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Abstract

To reduce the grinding trajectory deviation caused by the absolute positioning accuracy of robot, a trajectory compensation method based on Co-Kriging space interpolation method is proposed. Meanwhile, an adaptive iterative constant force control method based on one-dimensional force sensor is proposed to improve the processing quality and efficiency of robot belt grinding. Firstly, an error model based on 6 DOF robot is constructed. Then, considering the workspace of robot belt grinding and the similarity of robot position error, the Co-Kriging compensation algorithm is used to compensate the grinding trajectory, which makes the compensation process convenient and accurate. Then, a grinding dynamics model based on deformation is established, and an adaptive iterative constant force control is proposed for complex robot belt grinding process, which overcomes the instability of grinding force and shortens its convergence time. Finally, the grinding trajectory compensation experiment and the force control experiment of spherical workpiece are carried out. The results show that the space interpolation compensation algorithm based on Co-Kriging method can significantly improve both the space position error of grinding trajectory and the actual error of workpiece, which proves the feasibility of compensation algorithm. Through force control algorithm, the grinding force fluctuation is maintained within 2 N, the mean value, standard deviation and variance of absolute value of force error are significantly reduced, the convergence rate of grinding force and the roughness of workpiece are much better than before, which shows the effectiveness of the proposed force control algorithm.

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Acknowledgements

This research has been supported by the Science and Technology Planning Project of Guangdong Province (2019B040402006), the Science and Technology Major Project of Zhongshan Province, China (2016F2FC0006, 2018A10018) and the Fundamental Research Funds for the Central Universities (2019MS068).

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Authors and Affiliations

  1. School of Mechanical and Automotive Engineering, South China University of Technology, Guangzhou, 510000, China

    Tie Zhang, Ye Yu, Li-xin Yang & Meng Xiao

  2. School of Mechanical and Engineering, Guangzhou University, Guangzhou, 510000, China

    Shou-yan Chen

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  1. Tie Zhang
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  2. Ye Yu
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Correspondence to Tie Zhang.

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Zhang, T., Yu, Y., Yang, Lx. et al. Robot Grinding System Trajectory Compensation Based on Co-Kriging Method and Constant-Force Control Based on Adaptive Iterative Algorithm. Int. J. Precis. Eng. Manuf. 21, 1637–1651 (2020). https://doi.org/10.1007/s12541-020-00367-z

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