磨抛机器人轨迹跟踪与柔顺控制方法及应用研究文献综述  

Literature Review on Trajectory Tracking and Compliant Control Methods and Applications for Grinding and Polishing Robots

作　　者：王家芸 Wang Jiayun(Jiangnan University,Wuxi,Jiangsu 214000,CHN)

机构地区：[1]江南大学,江苏无锡214000

出　　处：《模具制造》2025年第5期169-171,共3页Die & Mould Manufacture

摘　　要：磨抛机器人广泛应用于高精度制造与表面处理,其核心技术是轨迹跟踪和柔顺控制。综述磨抛机器人轨迹跟踪控制方法、柔顺控制原理及其应用。分析了轨迹规划、跟踪算法与误差补偿技术,探讨了柔顺控制原理、力/位移控制及系统优化方向。针对现有研究中的不足,提出了未来的发展方向,如与人工智能相结合,以提升磨抛机器人的精度与稳定性,推动智能制造产业进步。Grinding and throwing robot is widely used in high-precision manufacturing and surface treatment,and its core technologie is track tracking and compliant control.Summarize the track tracking and control method of grinding robot.First,analyze trajectory planning,tracking algorithms,and error compensation techniques.Subsequently,explore compliance control principles,force/displacement control strategies,and system optimization directions.According to the shortcomings in the existing research,the future development direction is proposed,such as the combination of grinding and polishing robots and artificial intelligence.to improve the accuracy and stability of grinding robot and promote intelligent manufacturing.

关 键 词：磨抛机器人 轨迹跟踪 柔顺控制 智能优化 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]