Rectangular coordinate robot iteration sliding mode cross coupling control method

A Cartesian coordinate and cross-coupling technology, applied in adaptive control, general control system, control/adjustment system, etc., can solve three-axis synchronization, limited trajectory tracking and contour error control, affect three-axis synchronization, trajectory tracking accuracy, etc. question

Active Publication Date: 2017-12-15
NANJING UNIV OF SCI & TECH
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Problems solved by technology

However, the improvement of the above methods for three-axis synchronization, trajectory tracking and contour error control is limited
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  • Rectangular coordinate robot iteration sliding mode cross coupling control method
  • Rectangular coordinate robot iteration sliding mode cross coupling control method
  • Rectangular coordinate robot iteration sliding mode cross coupling control method

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[0090] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0091] combine Figure 1 to Figure 7 , a Cartesian coordinate robot iterative sliding mode cross-coupling control method, the control method includes the following processes:

[0092] The process of establishing the contour error model of the Cartesian coordinate robot is as follows:

[0093] Suppose t 0 At the moment, in the Cartesian coordinate system, P is the actual position of the end effector, the coordinates are (a, b, c), F(t) is the desired trajectory, R is the desired position, and the coordinates are (x 1 ,y 1 ,z 1 ),but is the tracking error vector of the Cartesian coordinate robot, denoted as Its projection on the three axes is e x , e y , e z , that is, the respective tracking errors of the three axes; the R' coordinate is (x 0 ,y 0 ,z 0 ), the straight line RR' is the tangent of the trajectory F(t) at R; draw a vertical line f...

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Abstract

The present invention discloses a rectangular coordinate robot iteration sliding mode cross coupling control method. The method comprises the following steps: establishing a rectangular coordinate robot contour error model and a direct current motor model, establishing a sliding mode speed controller, an iteration learning position controller and an interaxial variable gain cross coupling controller, and performing iteration sliding mode cross coupling control, wherein the sliding mode speed controller is configured to inhibit aperiodic interference, the iteration learning position controller is configured to reduce tracking errors, and the interaxial variable gain cross coupling controller is configured to reduce contour errors. The constructed iteration sliding mode cross coupling controller has high contour precision and high robustness.

Description

technical field [0001] The invention relates to the technical field of Cartesian coordinate robot control, in particular to a Cartesian coordinate robot iterative sliding mode cross-coupling control method. Background technique [0002] Industrial robots are automation equipment that integrates multidisciplinary advanced technologies such as machinery, electronics, control, computers, sensors, and artificial intelligence, and represent the development direction of future intelligent equipment. At present, domestic and foreign industries such as automobiles, electronic appliances, and construction machinery have widely used industrial robot automated production lines to ensure product quality and high production efficiency. [0003] Industrial robots can be divided into rectangular coordinate robots, cylindrical coordinate robots, polar coordinate robots and multi-joint robots according to the coordinate form. As one of the types of industrial robots, the Cartesian Robot has...

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 李胜孙强许鸣吉赵飞冀鹏郭健吴益飞
Owner NANJING UNIV OF SCI & TECH
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