Force-Position Precision Control of a Rigid- Flexible Coupling Grinding End Effector Based on Sliding Mode ADRC

In industrial high precise grinding process for complicated workpiece surface, traditional robotic systems based on rigid-body assumptions ignore arm elastic vibrations, lacking effective flexible control. Nonlinearities, parameter deviations and elastic deformations cause 0.1mm errors, failing precision demands. This paper proposes a rigid-flexible coupling grinding system with sliding mode ADRC(SMC-ADRC). The macro-micro structure uses flexure hinges to overcome friction and filter disturbances, with a servo-driven lead-screw for large strokes, which realizes large stroke, high precision and high response speed. SMC-ADRC integrates sliding surfaces into ADRC, with TD, LESO and sliding mode control for robustness. Simulations show SMC-ADRC outperforms APID and ADRC, with 0.08s settling time under disturbances. Experiments on aluminum and marble achieve 0.5N force accuracy(35-65N), 800μm displacement precision, <50ms convergence, and Ra=0.21μm roughness. The force-position mechanical and electrical control integration precision scheme meets high-precision grinding needs.