Adaptive Impedance Control for Repair Polishing of Wind Turbine Blade

The working scenario of the online repair robot for wind turbine blades is distinguished from the grinding and polishing processes in production. Significant variations in stiffness and shape within the repair area are caused by the randomness of defect locations, the high process requirements for wind turbine blade repair are not met. These limitations are more pronounced in the robotic processing and repair of large components. To address the challenges posed by unknown environmental conditions, the reference trajectory is then compensated in real time using adaptive impedance control. The algorithm is characterized by its simplicity and robustness. Good adaptability to varying environments is demonstrated by simulation results. The effectiveness of this control method has been validated through experimental results. The future research objective is for robots to perform precise grinding and polishing repairs on any unknown area during blade maintenance