Force Control Polishing Device Based on Fuzzy Adaptive Impedance Control

The final finishing technology of wind turbine blade is usually manual polishing and robotic polishing is a very meaningful but still hard task. This paper presents a novel strategy by combining a force control polishing device and contact force control algorithm. Specifically, the polishing device is electrically driven, which has advantage of high accuracy compared to the active control flange driven by cylinder. On the basis of this device, A fuzzy adaptive controller with a gravity compensation is proposed to adjust the damping parameter of the impedance controller to reduce the force error. The polishing device is placed on the end of Comau robot to be carried out the wind turbine blade polishing experiments. The results show that, the dynamic contact force error is 2 N and the roughness of wind turbine blade surface is 0.4 μm, which can obtain satisfactory performance of polishing.