Taskoriented Impedance Control for Integrated Autonomous Cleaning Manipulator While the development of the autonomous system for dangerous highrise cleaning is stuck by the energy supplement, it opens up challenges to the development of a simple and efficient manipulator and the control strategy of these manipulators. In this paper, an integrated autonomous cleaning manipulator has been designed, and for a better control performance of dirt removal, a taskoriented impedance control algorithm has been proposed. The mechanical design of the IACM not only fulfills the whole steps of the manul cleaning surface, guarantees the cleaning effects of the system, but also by adding water recycle system in it makes the system simpler, lighter and more environmentally friendly. Through using the feedback of the dirt removal model and impedance model, the proposed control algorithm connects the relationship of the dirt to manipulator joint control, which gives a direct relationship of the cleaning effects and the manipulator control. The experimental results comparison of the constant interaction force and the taskoriented interaction force show the proposed method is more energysaving and more efficient. This control method can also be widely extended to other surface machining area.

Modeling and Force Control of Robotic Polishing System for the Wheel Hubs Polishing is a key step in the manufacturing of wheel hubs since it will affect the appearance and performance of the wheel hubs. In this paper, a robotic polishing system is designed for the wheel hubs. To facilitate variable selection and controller design, the polishing process is firstly modeled. A roughness model considering the classic Preston material removal model is proposed. The roughness model aims at controlling the surface roughness rather than the material removal of the workpiece, which is more suitable for the robotic polishing for the wheel hubs. Then, a positionforce hybrid control framework is proposed for the robotic polishing system. To improve the performance of the force control, a threelevel rulebased adjusting method is designed and robot motion trajectory is planned based on the resolution surface of the wheel hubs. Finally, polishing experiments on the wheel hubs are fully conducted to demonstrate the effectiveness of the proposed modeling and control method of this paper.