{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,16]],"date-time":"2026-07-16T05:39:27Z","timestamp":1784180367383,"version":"3.55.0"},"reference-count":36,"publisher":"Wiley","issue":"5","license":[{"start":{"date-parts":[[2023,3,27]],"date-time":"2023-03-27T00:00:00Z","timestamp":1679875200000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["onlinelibrary.wiley.com"],"crossmark-restriction":true},"short-container-title":["Journal of Field Robotics"],"published-print":{"date-parts":[[2023,8]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>As a key technology of robot grinding, force control has great influence on grinding effects. Based on the traditional impedance control, a position\u2010based force tracking adaptive impedance control strategy is proposed to improve the grinding quality of aeroengine complex curved parts, which considers the stiffness damping environmental interaction model, modifies the reference trajectory by a Lyapunov\u2010based approach to realize the adaptive grinding process. In addition, forgotten Kalman filter based on six\u2010dimensional force sensor is used to denoise the force information and a three\u2010step gravity compensation process including static base value calculation, dynamic zero update and contact force real\u2010time calculation is proposed to obtain the accurate contact force between tool and workpiece in this method. Then, to verify the effectiveness of the proposed method, a simulation experiment which including five different working conditions is conducted in MATLAB, and the experiment studying the deviation between the reference trajectory and the actual position is carried out on the robot grinding system. The results indicate that the position\u2010based force tracking adaptive impedance control strategy can quickly respond to the changes of environmental position, reduce the fluctuation range of contact force in time by modifying the reference trajectory, compensate for the defect of the steady\u2010state error of the traditional impedance control strategy and improve the surface consistency of machined parts.<\/jats:p>","DOI":"10.1002\/rob.22169","type":"journal-article","created":{"date-parts":[[2023,3,27]],"date-time":"2023-03-27T07:49:46Z","timestamp":1679903386000},"page":"1097-1114","update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":33,"title":["Position\u2010based force tracking adaptive impedance control strategy for robot grinding complex surfaces system"],"prefix":"10.1002","volume":"40","author":[{"given":"Lun","family":"Li","sequence":"first","affiliation":[{"name":"State Key Laboratory of Robotics, Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China"},{"name":"Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Zhengjia","family":"Wang","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics, Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China"},{"name":"Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China"},{"name":"University of Chinese Academy of Sciences Beijing China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Guang","family":"Zhu","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics, Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China"},{"name":"Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jibin","family":"Zhao","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics, Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China"},{"name":"Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"311","published-online":{"date-parts":[[2023,3,27]]},"reference":[{"key":"e_1_2_8_2_1","doi-asserted-by":"publisher","DOI":"10.1080\/00207179.2022.2111365"},{"key":"e_1_2_8_3_1","doi-asserted-by":"publisher","DOI":"10.1115\/1.4040463"},{"key":"e_1_2_8_4_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.3010739"},{"issue":"2","key":"e_1_2_8_5_1","first-page":"35","article-title":"Adaptive variable impedance control for multi\u2010axis force tracking in uncertain environment stiffness with redundancy exploitation","volume":"24","author":"Bilal M.","year":"2022","journal-title":"Control Engineering and Applied Informatics"},{"key":"e_1_2_8_6_1","doi-asserted-by":"crossref","unstructured":"Bu Y.C.&Wu J.H.(2021) Auto\u2010tuned admittance control for robot drilling with constrained force overshoot. 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