Affiliations: School of Mechanical Engineering and Automation,
Northeastern University, Shenyang, 110004, China
Note: [] Corresponding author: Zhong Luo, School of Mechanical
Engineering and Automation, Northeastern University, Shenyang, 110004, China.
Tel.: +86 24 83680540; E-mail: zhluo@mail.neu.edu.cn
Abstract: In this paper, the dynamical performance of polishing robot working
in unstructured environment is investigated. Structure mechanism and operating
principle of a polishing robot are introduced firstly, and its dynamical model
is established. Then, a S-shaped acceleration-deceleration path planning method
and a human-simulated intelligent control (HSIC) strategy are proposed. The
S-shaped acceleration-deceleration path planning method is to switch the
magnitude and direction of the abrupt velocities between motion sections in
order to improve the work efficiency, the smoothness of movement and the
processing accuracy. The HSIC control strategy is built based on the
unstructured environment information measured by ultrasonic sensors, in which
the appropriate programs prepared in advance are determined according to the
size and sign of both the control error and its change rate. Simulation results
show that the intelligent control strategy combining with optimum path planning
method are effective to reduce the structure vibration, to improve the
stability and the control accuracy of the polishing robot system.
