Fuzzy sliding mode variable structure control of a high-speed parallel PnP robot
文献类型:期刊论文
作者 | Wu GL(吴广磊)3,4; Zhang, Xuping4; Zhu, Lina1; Lin, Zirong3; Liu JG(刘金国)2 |
刊名 | Mechanism and Machine Theory |
出版日期 | 2021 |
卷号 | 162页码:1-13 |
ISSN号 | 0094-114X |
关键词 | Parallel Schönflies-motion generator Pick-and-place Fuzzy sliding mode variable structure control Robot dynamics |
产权排序 | 4 |
英文摘要 | This paper presents the analysis and experimental evaluation of robot dynamics and control for a four-limb parallel Schönflies-motion generator dedicating to fast pick-and-place operations, with a different topological architecture from its counterparts for efficient use of shop-floor space. The concise equation of motion is built with principle of virtual work to characterize the robot dynamics, which is integrated into the model-based control design. Fuzzy sliding mode variable structure control is adopted for the design of control scheme, aiming at buffeting suppression of the actuated joints and minimization of pose errors of robot end-effector. Numerical simulations are carried out along a trajectory of an industrial standard testing cycle to evaluate the performance, which is validated experientially by observing the joint dynamics. The results show the effectiveness of the developed dynamic control scheme for fast parallel pick-and-place robots. |
WOS关键词 | DESIGN ; WORKSPACE |
资助项目 | Shandong Key S & T Innovative Engineering Program[2019JZZY010128] ; China Scholarship Council (CSC)[201906065026] |
WOS研究方向 | Engineering |
语种 | 英语 |
WOS记录号 | WOS:000651280900009 |
资助机构 | Shandong Key S & T Innovative Engineering Program (2019JZZY010128) ; China Scholarship Council (CSC No. 20190 60 65026) |
源URL | [http://ir.sia.cn/handle/173321/28768] |
专题 | 沈阳自动化研究所_空间自动化技术研究室 |
通讯作者 | Wu GL(吴广磊); Liu JG(刘金国) |
作者单位 | 1.SIASUN Robot & Automation CO., Ltd, Shenyang, China 2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China 3.School of Mechanical Engineering, Dalian University of Technology, Dalian 116024, China 4.Department of Engineering, Aarhus University, Aarhus C 8000, Denmark |
推荐引用方式 GB/T 7714 | Wu GL,Zhang, Xuping,Zhu, Lina,et al. Fuzzy sliding mode variable structure control of a high-speed parallel PnP robot[J]. Mechanism and Machine Theory,2021,162:1-13. |
APA | Wu GL,Zhang, Xuping,Zhu, Lina,Lin, Zirong,&Liu JG.(2021).Fuzzy sliding mode variable structure control of a high-speed parallel PnP robot.Mechanism and Machine Theory,162,1-13. |
MLA | Wu GL,et al."Fuzzy sliding mode variable structure control of a high-speed parallel PnP robot".Mechanism and Machine Theory 162(2021):1-13. |
入库方式: OAI收割
来源:沈阳自动化研究所
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