Adaptive variable stiffness force position of grinding and measurement integration system combining human-computer interaction grinding system and multi-objective optimization algorithm

IntroductionRobotic grinding suffers from problems such as unstable contact force, limited control in large-area grinding, and difficulty in improving the grinding quality of complex curved surfaces.MethodsTo address these issues and achieve precise force-position control, adaptive adjustment, and multi-objective balance during the grinding process, this study designs a rigid-flexible coupling grinding mechanism and a human-machine interactive architecture for an integrated grinding and measurem