Force Control of Polishing Robots Considering Sensor Measurement Sensitivity and Hysteresis Characteristics

In virtue of its excellent flexibility, high compliance, and convenient maintenance, pneumatic polishing equipment is widely used in the surface polishing of manufacturing products. However, due to the harsh working environment of polishing robots (e.g., high temperatures, humidity, and vibrations), the probability of inaccurate measurements is increased. At the same time, pneumatic systems have strong hysteresis and nonlinear characteristics because of the materials, friction, and gas resistance. The above issues will affect the accurate tracking performance of pneumatic control systems. Therefore, this paper proposes a force control framework considering hysteresis characteristics and sensor measurement sensitivity. Furthermore, an adaptive dynamic surface control method is designed to achieve precise force control under measurement sensitivity. In addition, the stability analysis is completed by using Lyapunov techniques, and all states of the closed-loop system are also guaranteed to be bounded. Finally, several groups of simulation results demonstrate the effectiveness of the proposed method.