Application of robot stable contact force control in wall grinding within the construction field

Abstract

In the wall putty grinding process within the construction sector, maintaining a stable interaction force between the grinding tool and the material surface is critical to ensuring surface flatness and effective stain removal. Traditional manual grinding suffers from high labor intensity, dust exposure, and occupational health risks. To address these challenges, this study proposes a robotic structure designed for wall grinding tasks. Furthermore, to mitigate system errors caused by sensor zero drift and load gravity disturbances, an improved algorithm for zero-point calibration and gravity compensation is introduced. For stable contact force control under weak visual feedback, an adaptive impedance control method is developed, which dynamically compensates for force-tracking errors by establishing adaptive rules for damping characteristics. Theoretical analysis, simulation verification, and practical grinding experiments collectively demonstrate that the proposed method significantly enhances contact force control accuracy and improves post-grinding surface quality. This study provides a stable and efficient technical solution for robotic applications in intelligent building surface treatment.