Motion-copying method with symbol sequence-based phase switch control for intelligent optical manufacturing

Implementation of robot-based motion control in optical machining demonstrably enhances the machining quality. The introduction of motion-copying method enables learning and replicating manipulation from experienced technicians. Nevertheless, the location uncertainties of objects and frequent switching of manipulated spaces in practical applications impose constraints on their further advancement. To address this issue, a motion-copying system with a symbol-sequence-based phase switch control (SSPSC) scheme was developed by transferring the operating skills and intelligence of technicians to mechanisms. The manipulation process is decomposed, symbolised, rearranged, and reproduced according to the manufacturing characteristics regardless of the change in object location. A force-sensorless adaptive sliding-mode-assisted reaction force observer (ASMARFOB), wherein a novel dual-layer adaptive law was designed for high-performance fine force sensing, was established. The uniformly ultimate boundedness (UUB) of the ASMARFOB is guaranteed based on the Lyapunov stability theory, and the switching stability of the SSPSC was examined. Validation simulations and experiments demonstrated that the proposed method enables better motion reproduction with high consistency and adaptability. The findings of this study can provide effective theoretical and practical guidance for high-precision intelligent optical manufacturing.