Modeling of Machining Force Error in Aspheric Surface Polishing by Hybrid Movement/Force Control Policy

摘要

By the hybrid movement/force control policy, machining force could be controlled in aspheric surface polishing. However, the controller could not eliminate and restrain the errors of position and pose which would disturb the force control consequentially in real system. In this paper, an angle is defined to express all the errors of position and pose for aspheric surface polishing, and the errors are modeled for machining force control. By detecting this angle, the errors of position and pose could be used by the system controller to eliminate the disturbance in hybrid movement/force control system and compensate feed movement control in aspheric surface polishing. Simulation shows that the model could effectively express the errors of position and pose.