Study on the Orthogonalization for Hybrid Motion/Force Control and its application in Aspheric Surfaces Polishing
In the process of curved surfaces polishing and buffing,the tools have to be compressed on the surface and moved to wear the work piece,so the normal force and the tangential feed motions should be controlled synchronously.It is a typical kind of compliant control,generally,which would most likely be done under the hybrid motion/force control policy.Although its theory is already perfect well,it could seldom be used in the process of curved surfaces polishing and buffing,if ever,for it is always not easy to orthogonalize the force control space from the motion control space.In this paper,an independent force controlling system is developed and added to control the normal force---a CNC lathe for aspheric surfaces polishing and buffing.The normal force control space is orthogonalized from the motion control space by geometry defining and further orthogonalizing in the domain of time is taken to make the force not to be interpolated with the displacements of the feed motions.Force controlling experiments and polishing experiments show that the hybrid motion/force control policy could be used in the process of aspheric surfaces polishing and buffing by providing normal force control and feed motions control independently.
Compliant polishing Hybrid motion/force control Orthogonalization Aspheric surfaces
Jianming Zhan Wei Chen
Faculty of Mechanical Engineering and Mechanics Ningbo University,Ningbo 315-211 China
国内会议
北京
英文
1-15
2013-06-26（万方平台首次上网日期，不代表论文的发表时间）