{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,26]],"date-time":"2025-10-26T22:55:24Z","timestamp":1761519324183,"version":"3.41.2"},"reference-count":20,"publisher":"Emerald","issue":"1","license":[{"start":{"date-parts":[[2021,2,12]],"date-time":"2021-02-12T00:00:00Z","timestamp":1613088000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IR"],"published-print":{"date-parts":[[2022,1,3]]},"abstract":"<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Purpose<\/jats:title>\n<jats:p>This study aims to realize the constant force grinding of automobile wheel hub.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Design\/methodology\/approach<\/jats:title>\n<jats:p>A force control strategy of backstepping + proportion integration differentiation (PID) is proposed. The grinding end effector is installed on the flange of the robot. The robot controls the position and posture of the grinding end actuator and the grinding end actuator controls the grinding force output. First, the modeling and analysis of the grinding end effector are carried out, and then the backstepping + PID method is adopted to control the grinding end effector to track the expected grinding force. Finally, the feasibility of the proposed method is verified by simulation and experiment.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Findings<\/jats:title>\n<jats:p>The simulation and experimental results show that the backstepping + PID strategy can track the expected force quickly, and improve the dynamic response performance of the system and the quality of grinding and polishing of automobile wheel hub.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Research limitations\/implications<\/jats:title>\n<jats:p>The mathematical model is based on the pneumatic system and ideal gas, and ignores the influence of friction in the working process of the cylinder, so the mathematical model proposed in this study has certain limitations. A new control strategy is proposed, which is not only used to control the grinding force of automobile wheels, but also promotes the development of industrial control.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Social implications<\/jats:title>\n<jats:p>The automatic constant force grinding of automobile wheel hub is realized, and the manpower is liberated.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Originality\/value<\/jats:title>\n<jats:p>First, the modeling and analysis of the grinding end effector are carried out, and then the backstepping + PID method is adopted to control the grinding end effector to track the expected grinding force. The nonlinear model of the system is controlled by backstepping method, and in the process, the linear system composed of errors is obtained, and then the linear system is controlled by PID to realize the combination of backstepping and PID control.<\/jats:p>\n<\/jats:sec>","DOI":"10.1108\/ir-10-2020-0229","type":"journal-article","created":{"date-parts":[[2021,2,13]],"date-time":"2021-02-13T12:04:00Z","timestamp":1613217840000},"page":"34-46","source":"Crossref","is-referenced-by-count":15,"title":["Force tracking control of grinding end effector based on backstepping + PID"],"prefix":"10.1108","volume":"49","author":[{"given":"Shijie","family":"Dai","sequence":"first","affiliation":[]},{"given":"Shining","family":"Li","sequence":"additional","affiliation":[]},{"given":"Wenbin","family":"Ji","sequence":"additional","affiliation":[]},{"given":"Zhenlin","family":"Sun","sequence":"additional","affiliation":[]},{"given":"Yufeng","family":"Zhao","sequence":"additional","affiliation":[]}],"member":"140","published-online":{"date-parts":[[2021,2,12]]},"reference":[{"volume-title":"Adaptive Fuzzy Region-Based Control of Euler-Lagrange Systems with Kinematically Singular Configurations","year":"2020","key":"key2021123108212131700_ref001"},{"volume-title":"Automatic Parking Control of Unmanned Vehicle Based on Switching Control Algorithm and Backstepping","year":"2020","key":"key2021123108212131700_ref003"},{"volume-title":"EEG-Based Volitional Control of Prosthetic Legs for Walking in Different Terrains","year":"2019","key":"key2021123108212131700_ref002"},{"volume-title":"Situational Assessment for Intelligent Vehicles Based on Stochastic Model and Gaussian Distributions in Typical Traffic Scenarios","year":"2020","key":"key2021123108212131700_ref004"},{"volume-title":"Offline Programming Method and Implementation of Industrial Robot Grinding Based on VTK","year":"2020","key":"key2021123108212131700_ref005"},{"issue":"6","key":"key2021123108212131700_ref006","first-page":"776","article-title":"Hybrid force\/position control method for robotic polishing based on passive compliance structure","volume":"39","year":"2017","journal-title":"Robot"},{"year":"2019","key":"key2021123108212131700_ref007","article-title":"Theoretical exploration of high-quality development of China\u2019s automobile industry in the new era"},{"journal-title":"Mechanical Science and Technology for Aerospace Engineering","article-title":"Constant grinding force compensation mechanism for a robot flexible grinding machine and its dynamics analysis","year":"2008","key":"key2021123108212131700_ref008"},{"issue":"8","key":"key2021123108212131700_ref009","article-title":"Theory, supporting technology and application analysis of cloud manufacturing: a systematic and comprehensive literature review","volume":"120","year":"2020","journal-title":"Industrial Management & Data Systems"},{"issue":"6","key":"key2021123108212131700_ref010","doi-asserted-by":"crossref","first-page":"722","DOI":"10.1108\/IR-03-2018-0051","article-title":"Dynamic trajectory-tracking control method of robotic transcranial magnetic stimulation with end-effector gravity compensation based on force sensors","volume":"45","year":"2018","journal-title":"Industrial Robot: An International Journal"},{"issue":"4\/5","key":"key2021123108212131700_ref011","first-page":"207","article-title":"CAD\/CAM-based position\/force controller for a mold polishing robot","volume":"17","year":"2007","journal-title":"Mechatronics"},{"issue":"1","key":"key2021123108212131700_ref012","doi-asserted-by":"crossref","first-page":"6","DOI":"10.1108\/01439910910924611","article-title":"Finishing robots: a review of technologies and applications","volume":"36","year":"2009","journal-title":"Industrial Robot: An International Journal"},{"issue":"3","key":"key2021123108212131700_ref013","article-title":"A high performance pneumatic force actuator system: part I \u2013 nonlinear mathematical model","volume":"122","year":"2000","journal-title":"Journal of Dynamic Systems Measurement & Control Transactions of the Asme"},{"issue":"4","key":"key2021123108212131700_ref014","doi-asserted-by":"crossref","first-page":"251","DOI":"10.1108\/01439919810226221","article-title":"Robots score at grinding and polishing","volume":"25","year":"1998","journal-title":"Industrial Robot: An International Journal"},{"issue":"4","key":"key2021123108212131700_ref015","doi-asserted-by":"crossref","first-page":"328","DOI":"10.1108\/01439910110397183","article-title":"Robot control system for grinding of large hydro power turbines","volume":"28","year":"2001","journal-title":"Industrial Robot: An International Journal"},{"key":"key2021123108212131700_ref016","doi-asserted-by":"crossref","first-page":"55","DOI":"10.1016\/j.cirpj.2016.05.010","article-title":"Modeling and control of robotic automatic polishing for curved surfaces","volume":"14","year":"2016","journal-title":"Cirp Journal of Manufacturing Science & Technology"},{"year":"2013","key":"key2021123108212131700_ref017","article-title":"Force controlled contour following on unknown objects with an industrial robot"},{"issue":"3","key":"key2021123108212131700_ref018","doi-asserted-by":"crossref","first-page":"489","DOI":"10.1108\/AA-09-2018-0124","article-title":"Position-based impedance force controller with sensorless force estimation","volume":"39","year":"2019","journal-title":"Assembly Automation"},{"article-title":"A structure and control design of constant force polishing end actuator based on polishing robot","volume-title":"2017 IEEE International Conference on Information and Automation (ICIA)","year":"2017","key":"key2021123108212131700_ref020"},{"issue":"6","key":"key2021123108212131700_ref019","first-page":"12","article-title":"Nonlinear model establishment and experimental verification of a pneumatic rotary actuator position servo system","volume":"12","year":"2019","journal-title":"Energies"}],"container-title":["Industrial Robot: the international journal of robotics research and application"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/IR-10-2020-0229\/full\/xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/IR-10-2020-0229\/full\/html","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,7,24]],"date-time":"2025-07-24T21:40:11Z","timestamp":1753393211000},"score":1,"resource":{"primary":{"URL":"http:\/\/www.emerald.com\/ir\/article\/49\/1\/34-46\/184002"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,2,12]]},"references-count":20,"journal-issue":{"issue":"1","published-online":{"date-parts":[[2021,2,12]]},"published-print":{"date-parts":[[2022,1,3]]}},"alternative-id":["10.1108\/IR-10-2020-0229"],"URL":"https:\/\/doi.org\/10.1108\/ir-10-2020-0229","relation":{},"ISSN":["0143-991X","0143-991X"],"issn-type":[{"type":"print","value":"0143-991X"},{"type":"print","value":"0143-991X"}],"subject":[],"published":{"date-parts":[[2021,2,12]]}}}