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Article

An Adaptive Sliding-Mode Iterative Constant-force Control Method for Robotic Belt Grinding Based on a One-Dimensional Force Sensor

School of Mechanical and Automotive Engineering, South China University of Technology, Guangzhou 510000, China
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Author to whom correspondence should be addressed.
Sensors 2019, 19(7), 1635; https://doi.org/10.3390/s19071635
Received: 21 February 2019 / Revised: 3 April 2019 / Accepted: 3 April 2019 / Published: 5 April 2019
(This article belongs to the Collection Robotics, Sensors and Industry 4.0)
To improve the processing quality and efficiency of robotic belt grinding, an adaptive sliding-mode iterative constant-force control method for a 6-DOF robotic belt grinding platform is proposed based on a one-dimension force sensor. In the investigation, first, the relationship between the normal and the tangential forces of the grinding contact force is revealed, and a simplified grinding force mapping relationship is presented for the application to one-dimension force sensors. Next, the relationship between the deformation and the grinding depth during the grinding is discussed, and a deformation-based dynamic model describing robotic belt grinding is established. Then, aiming at an application scene of robot belt grinding, an adaptive iterative learning method is put forward, which is combined with sliding mode control to overcome the uncertainty of the grinding force and improve the stability of the control system. Finally, some experiments were carried out and the results show that, after ten times iterations, the grinding force fluctuation becomes less than 2N, the mean value, standard deviation and variance of the grinding force error’s absolute value all significantly decrease, and that the surface quality of the machined parts significantly improves. All these demonstrate that the proposed force control method is effective and that the proposed algorithm is fast in convergence and strong in adaptability. View Full-Text
Keywords: robot; abrasive belt grinding; constant-force control; adaptive sliding-mode control; iterative learning robot; abrasive belt grinding; constant-force control; adaptive sliding-mode control; iterative learning
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MDPI and ACS Style

Zhang, T.; Yu, Y.; Zou, Y. An Adaptive Sliding-Mode Iterative Constant-force Control Method for Robotic Belt Grinding Based on a One-Dimensional Force Sensor. Sensors 2019, 19, 1635. https://doi.org/10.3390/s19071635

AMA Style

Zhang T, Yu Y, Zou Y. An Adaptive Sliding-Mode Iterative Constant-force Control Method for Robotic Belt Grinding Based on a One-Dimensional Force Sensor. Sensors. 2019; 19(7):1635. https://doi.org/10.3390/s19071635

Chicago/Turabian Style

Zhang, Tie, Ye Yu, and Yanbiao Zou. 2019. "An Adaptive Sliding-Mode Iterative Constant-force Control Method for Robotic Belt Grinding Based on a One-Dimensional Force Sensor" Sensors 19, no. 7: 1635. https://doi.org/10.3390/s19071635

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