Interior wall finishing design model incorporating motion redundancy optimization and active compliance control algorithm

Faced with the rising labor costs and low construction efficiency in the construction and decoration industry, there is an urgent need to introduce automation technology to reform construction methods. Therefore, a flexible macro and micro decoration robot is designed, integrating motion redundancy optimization and active compliance control strategies. The gradient projection method is used to optimize the accuracy of the robot arm’s motion trajectory, while the active supple control is used to improve the wall surface adaptability to enhance the stability and accuracy of the finishing actuator system’s force-position tracking. The results showed that the macro/micro robotic arm was accurate in tracking the position and attitude of the trajectory, with only 0.1° in the β-Euler angle. The joint motion of the robotic arm and the driving speed of the micro robotic arm were maintained within reasonable limits. Under the premise of ensuring accurate force and position tracking as well as system stability, the stiffness coefficient should not exceed 10 to avoid frequent small oscillations during tracking and instability due to excessive stiffness. The redundant motion control algorithm and active compliance controller based on impedance control studied have improved the adaptability and accuracy of the robot arm. The designed method can achieve precise wall finishing control, which makes a significant contribution to improving construction efficiency and quality, as well as ensuring worker safety.