Current Situation and Development of Path Planning and Force Position Control Technology for Robot Grinding with Thin-walled and Complex Structures

doi:10.3901/JME.260232

Abstract

Abstract: In the aerospace field, the structural design of high-speed aircraft has high requirements for structural weight and surface protection performance. To ensure accuracy, grinding processing is usually necessary. However, manual grinding relies on experience and the working environment is harsh. Industrial robots, with their high applicability, strong flexibility, low cost and easy programming, not only improve production efficiency and product quality, but also reduce labor costs and labor intensity. ity. The latest research progress of robot grinding technology for thin-walled and complex structure coatings is reviewed, with a focus on grinding path planning, force-position hybrid control technology, and their collaborative methods. Polishing path planning includes path generation and discretization methods, such as traditional algorithms like the equal parameter line method and the equal residual height method, as well as intelligent optimization methods. For the force-position hybrid control technology, the aspects such as control methods, control strategies and control devices are discussed. Collaborative methods of force-position hybrid control and path planning are also explored, including data sharing mechanisms, joint optimization algorithms, and model predictive control. For the force-position hybrid control technology, aspects such as control methods, control strategies, and control devices are discussed. The collaborative methods of force-position hybrid control and path planning were also discussed, including data sharing mechanism, joint optimization algorithm and model predictive control, aiming to maintain the tracking of the target path while ensuring the stability of control force and motion. Through the collaboration of path planning and force-position hybrid control technology, the processing quality and efficiency of robot grinding can be greatly improved, and the engineering applicability of robot grinding technology can be expanded.

Key words: robot grinding, path planning, force-position hybrid control, integrated measurement and processing

CLC Number:

TP242

GU Lianrui, GUO Guoqiang, JIANG Renzheng, WU Tiange, KE Shuai, KONG Zhixue, ZHAO Huan. Current Situation and Development of Path Planning and Force Position Control Technology for Robot Grinding with Thin-walled and Complex Structures[J]. Journal of Mechanical Engineering, 2026, 62(5): 117-132.

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