Hysteresis Fitting for Grinding Robots Based on Compliant Device Force Control

For high-precision grinding of the workpiece surface, a flexible grinding device driven by the cylinder is developed in this paper. The hysteresis nonlinearity of the cylinder greatly reduces the control accuracy of the system output force. In this paper, an modified PI hysteresis model with inertia element and saturation model in series is proposed. After the experiment on the developed experimental platform, it is found that compared with the traditional PI hysteresis model, the modified PI model proposed in this paper improves the results of fitting rate-dependent hysteresis curve and non-center-symmetric hysteresis curve, laying a solid foundation for the later design of high-precision control algorithm.