基于集成概率模型的变阻抗机器人打磨力控制

郭万金,赵伍端,利乾辉,赵立军,曹雏清

Ensemble probabilistic model based variable impedance for robotic grinding force control

Wan-jin GUO,Wu-duan ZHAO,Qian-hui LI,Li-jun ZHAO,Chu-qing CAO

表 2 不同刚度工件打磨力绝对跟踪误差

Tab.2 Absolute tracking errors of robotic grinding force for workpieces with different stiffnesses

工件材料 K/(N·m−1) $ f_{_{\text{d}}}^{\max } $/N $f_{_{\text{d}}}^{\rm{s}}$/N2 $f_{_{\text{d}}}^{{\rm{m}}} $/N 铝合金 3.5×104 2.382 5 2.700 1 0.093 1 碳钢 1.0×105 9.531 0 2.196 9 0.843 8