Research on the Control of the end Effector of the Large-Scale Curved Surface Compliant Polishing Robot

Runyang Zhan

2024

Abstract

Curved surface parts find extensive use in various applications, and their surface quality plays a crucial role in their performance. Industrial robot technology has advanced to the point where manual polishing can be replaced. However, most robots currently employ position control, which has low accuracy in force control and is unsuitable for the task. This paper aims to address the limitations of current research by focusing on an improved control strategy that uses a parameter optimization algorithm to enhance the system's dynamic performance. The main areas of research include the control of the end effector's contact force. Firstly, a mathematical model of the pneumatic control loop is established and the system transfer function is obtained through system identification. An improved optimization algorithm based on Particle Swarm Optimization and Tuna Swarm Optimization is proposed to enhance the mechanism's control performance when dealing with complex nonlinear systems. This algorithm has a faster convergence speed, higher convergence accuracy, and stronger searchability.

Paper Citation

in Harvard Style

Zhan R. (2024). Research on the Control of the end Effector of the Large-Scale Curved Surface Compliant Polishing Robot. In Proceedings of the 1st International Conference on Data Science and Engineering - Volume 1: ICDSE; ISBN 978-989-758-690-3, SciTePress, pages 599-607. DOI: 10.5220/0012869900004547

in Bibtex Style

@conference{icdse24,
author={Runyang Zhan},
title={Research on the Control of the end Effector of the Large-Scale Curved Surface Compliant Polishing Robot},
booktitle={Proceedings of the 1st International Conference on Data Science and Engineering - Volume 1: ICDSE},
year={2024},
pages={599-607},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0012869900004547},
isbn={978-989-758-690-3},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 1st International Conference on Data Science and Engineering - Volume 1: ICDSE
TI - Research on the Control of the end Effector of the Large-Scale Curved Surface Compliant Polishing Robot
SN - 978-989-758-690-3
AU - Zhan R.
PY - 2024
SP - 599
EP - 607
DO - 10.5220/0012869900004547
PB - SciTePress