Research on Robot Grinding Force Control Method

The contact force control between the tool and the workpiece in the industrial robot grinding process is essential to improve the surface quality and processing efficiency of the workpiece. This paper focus on the control of grinding force in the robot grinding process. Firstly, the grinding force control device and method are developed. Then, the force control mathematical model of the system is established and the fuzzy PID strategy of constant force control is especially designed. Finally, the force control tracking experiments has been conducted to verify the system performance. The experimental results show that the contact force control can be controlled smoothly, which can ensure the constant contact force between the workpiece and the tool of the grinding process.