Aiming at the problem that in the robot deburring process

conventional control methods often cannot distinguish between changes in environmental parameters and interference caused by large burrs

a generalized predictive control（ GPC） algorithm based on time-varying parameters is proposed

which can automatically adjust the reference cutting force according to the change of burr size and material properties. The control of the robot force ring and the position loop is realized by calculating the deviation value between the force detected by the sensor and the predictive force. The simulation results show that the proposed control strategy is robust to environmental parameter changes

and can produce uniform surface in the robot grinding operation to obtain better processing quality.