关键词: 轨迹修正, 终端滑模控制, 导纳控制, 多轴刀位点, 高精度

Abstract: In view of the poor stability of the traditional polishing robot force control algorithm in the position inner loop control,and to reduce the polishing trajectory error caused by the switching of force / position control algorithms,a terminal sliding mode admittance control method based on trajectory correction was proposed.In the polishing process,the position correction was generated according to the difference between the feedback parameters of the force sensor and the expected force acting on the admittance model.Then,the terminal sliding mode control model was designed as the position inner loop control link,and the trajectory was tracked through the real-time feedback of the position correction.The actual trajectory information was used to modify the planning trajectory to reduce the polishing force error,so as to achieve high precision polishing effect.Simulation and experiments showed that the terminal sliding mode admittance control had good control effect.After the trajectory was corrected,the polishing force error was significantly improved compared with that before correction.The polished model showed that the average deviation of contour arithmetic was 0.035 μm.The polishing quality had been significantly improved.

Key words: trajectory correction, terminal sliding mode control, admittance control, multi-axis tool location, high-precision