Asymmetrical nonlinear impedance control for dual robotic machining of thin-walled workpieces

摘要

Impedance control is to provide stable tracking by regulating the impedance response of a robot. In this paper, an asymmetrical nonlinear impedance control (ANIC) is proposed for a dual robotic machining system. The symmetrical linear impedance control (SLIC) is also analyzed as a comparison study. We compared two controllers in terms of the stability and the sensitivity property of the grinding force, as well as the trajectory design. The main advantage of the ANIC is that the grinding force is robust to the environmental disturbances and the variation in thickness of workpieces. In contrast to the traditional control concept, which is devoted to compensate the nonlinear effect of the original system, our design philosophy is to increase the system robustness by introducing an artificial nonlinearity to the system. As a result, the dual robotic system acts as variable stiffness actors to adapt the variation in the thickness of workpieces. Grinding experiments are conducted in the dual robotic machining test rig for both workpieces with the uniform and varied thickness. The experimental results show that the dual robotic system with the ANIC can achieve better grinding quality.