Robotic Precision Force Control in Optical Machining a Fuzzy Admittance Approach

This paper presents the development and implementation of a Fuzzy Variable Admittance Control (FVAC) system for precision optical machining with collaborative robots. Incorporating fuzzy logic into the admittance control framework, the system adapts to real-time machining dynamics, maintaining force control with high accuracy. Experimental results on a $40 \text{mm} \mathrm{x} 40\text{mm}$ quartz glass demonstrated the system's capacity to keep force tracking error within 0.3N, reducing the surface form error from PV 472.8nm to 178.3nm and RMS from 93.1nm to 29.8nm. This method outperforms traditional fixed-parameter admittance control, promising enhanced efficiency and precision in optical manufacturing processes.