A Method of Robot Grinding Force Control Based on Internal Model Control Principle

Abstract

The application of robots in the grinding industry can solve the problems in traditional artificial grinding, such as high labor intensity, low work efficiency, unguaranteed processing quality and serious physical injury to workers. In order to ensure the grinding quality, it is necessary to control the grinding force. The aims of this study is use PID-IMC controller to control the grinding force. Carry on the robot dynamics analysis to establish the dynamics model. Based on the principle of internal model control (IMC), PID controller is optimized and PID-IMC controller is obtained, which is used to realize the constant force control of robot grinding. Simulation and experiments results show that, the dynamics model and control method proposed in this paper have a better effect in the control of robot grinding force.