Force estimation based position impedance control for robotic machining process

A novel position impedance controller with force estimation model is proposed to suppress the uncertainty of the position in robotic machining process. This control strategy employs a fuzzy logic controller to regulate the impedance parameters to reduce the disturbance in constrained motion and improve the effect of force control. An empirical force model taking into consideration the burrs affection is developed to estimate the cutting force. The model is used to adjust the reference force of impedance controller according to the feedback location of the end-effectors to get the smooth surface. The simulation is carried out to verify the effectiveness of the approach.