Adaptive Impedance Control for Robotic Polishing with an Intelligent Digital Compliant Grinder

  • Qianlong Xie
  • Huan ZhaoEmail author
  • Tao Wang
  • Han Ding
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 11745)


Aircraft-engine blade has a free-form surface in space, which is extremely complicated. And the surface milling must be polished completely to eliminate the surface residual texture and stress concentration. To solve this problem, an intelligent digital compliant grinder with active and passive compliance, double-end floating and multi-station polishing is independent-designed. Besides, a novel impedance controller based on particle swarm optimization algorithm is proposed, which can realize adaptive adjustment of the impedance parameters. And it can maintain the contact force between the grinding tool and the workpiece to a constant value. The experimental results show that the proposed method works well and the surface roughness and the machining consistency of the blade are greatly improved with the intelligent digital compliant grinder for active contact force. Specifically, the surface roughness of the blade reduces from 0.730 μm to 0.065 μm, and the force fluctuation is less than 1 N, therefore, leading to a better surface quality.


Complex blade Robotic polishing Intelligent digital compliant grinder Particle swarm optimization Adaptive impedance control 



This work was supported by the National Key Research and Development Program of China under Grant No. 2017YFB1303401, the National Natural Science Foundation of China under Grant Nos. 91748114 and 51535004.


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© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.State Key Laboratory of Digital Manufacturing Equipment and TechnologyHuazhong University of Science and TechnologyWuhanPeople’s Republic of China

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