An improved rational Bezier model for pneumatic constant force control device of robotic polishing with hysteretic nonlinearity

doi:10.1007/s00170-022-10193-4

	An improved rational Bezier model for pneumatic constant force control device of robotic polishing with hysteretic nonlinearity
	Chen, Yongjiang 1; Zhao, Jianghai 2; Jin, Yujie 1
刊名	INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY
	2022-09-26
关键词	Robotic polishing Force control Constant force control devices Pneumatic constant force system
ISSN号	0268-3768
DOI	10.1007/s00170-022-10193-4
通讯作者	Chen, Yongjiang(545541301@qq.com)
英文摘要	The pneumatic constant force control device has been widely used in robot deburring, sanding, polishing, and other fields due to its good flexibility, simple control, and low cost. The force control accuracy of the pneumatic constant force system could be greatly affected by its nonlinear hysteresis characteristics in the process from the cylinder input to the force output at the end of the device. A rational Bezier-based state fitting method (BSFM) has been presented for calibrating the inherent nonlinearity of the low-cost pneumatic constant force system. Compared with the most widely used PSFM, which is a polynomial-based state fitting method, the BSFM could calibrate the strong inherent nonlinearity of the system more smoothly with the lower ordered model and in a continuous form rather than the piecewise form of the PSFM. The BSFM could maintain a balance between simplicity and precision. Through a series of comparative experiments with different contact forces and feed rates, the proposed method has smaller force overshoot and when active force control is turned on, the force variation is greatly reduced to less than 2 N. The average roughness of the workpiece reached 0.4 mu m after polishing.
资助项目	China Postdoctoral Science Foundation[2019M651965]
WOS研究方向	Automation & Control Systems ; Engineering
语种	英语
出版者	SPRINGER LONDON LTD
WOS记录号	WOS:000859922500001
资助机构	China Postdoctoral Science Foundation
内容类型	期刊论文
源URL	[http://ir.hfcas.ac.cn:8080/handle/334002/129099]
专题	中国科学院合肥物质科学研究院
通讯作者	Chen, Yongjiang
作者单位	1.Changzhou Inst Technol, Sch Aerosp & Mech Engn, Changzhou 213002, Peoples R China 2.Chinese Acad Sci, Inst Adv Mfg Technol, Changzhou 213164, Peoples R China
推荐引用方式 GB/T 7714	Chen, Yongjiang,Zhao, Jianghai,Jin, Yujie. An improved rational Bezier model for pneumatic constant force control device of robotic polishing with hysteretic nonlinearity[J]. INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY,2022.
APA	Chen, Yongjiang,Zhao, Jianghai,&Jin, Yujie.(2022).An improved rational Bezier model for pneumatic constant force control device of robotic polishing with hysteretic nonlinearity.INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY.
MLA	Chen, Yongjiang,et al."An improved rational Bezier model for pneumatic constant force control device of robotic polishing with hysteretic nonlinearity".INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY (2022).