Constant-Force Control of a Lead-Screw-Driven Polishing Actuator Using Multi-Scenario PSO Tuning
This study addresses contact-force fluctuations in robotic polishing caused by local surface protrusions, variations in contact parameters, and force-sensor noise. A reduced-order force-actuator model is established by combining a closed inner speed loop, lead-screw transmission, and unilateral contact dynamics. A mult...