Analysis and comparison of control strategies for normal adjustment of a robotic drilling end-effector

doi:10.21595/jve.2018.19892

CORC > 兰州理工大学 > 兰州理工大学 > 机电工程学院

	Analysis and comparison of control strategies for normal adjustment of a robotic drilling end-effector
	Zhang, Laixi 1; Dhupia, Jaspreet Singh 2; Wu, Mingliang 1
刊名	Journal of Vibroengineering
	2018-11-01
卷号	20 期号:7 页码:2651-2667
关键词	Controllers End effectors Infill drilling MATLAB Model reference adaptive control Robotic assembly Robotics Sliding mode control Adaptive Control Advanced control strategy Drilling technology Experiment platforms Model reference adaptive controllers PD control Sliding mode controller xPC environment
ISSN号	13928716
DOI	10.21595/jve.2018.19892
英文摘要	Robotic drilling technology for aircraft flexible assembly has challenges and is under active investigation. In this work, a robotic drilling end-effector is designed and its normal adjustment system is dynamically modeled for comparison of advanced control strategies in terms of position tracking precision and dynamic quality. Three control algorithms with different computational complexity are proposed and compared: Based on computation torque control method first, a proportional and differential controller (PDC) and a sliding mode controller (SMC) are proposed respectively, and then is a model reference adaptive controller (MRAC). Simulation results show that the SMC has higher precision and a more excellent tracking property than the PDC of which the proportional and derivative gains have been optimally tuned using a modified Ziegler-Nichols’ (Z-N) tuning methods. An experiment platform is established in MatLab xPC environment to validate the effect of the SMC and MRAC. The experiment results show that the MRAC delivers a better robust performance that allows adaptiveness to the nonlinear factors such as disturbance and parameter variations than the SMC. © 2018 Laixi Zhang, et al.
WOS研究方向	Engineering
语种	英语
出版者	JVE International
WOS记录号	WOS:000450051400009
内容类型	期刊论文
源URL	[http://ir.lut.edu.cn/handle/2XXMBERH/114433]
专题	机电工程学院
作者单位	1.School of Mechanical and Electronical Engineering, Lanzhou University of Technology, Lanzhou; 730050, China; 2.Department of Mechanical Engineering, University of Auckland, Auckland; 1142, New Zealand
推荐引用方式 GB/T 7714	Zhang, Laixi,Dhupia, Jaspreet Singh,Wu, Mingliang. Analysis and comparison of control strategies for normal adjustment of a robotic drilling end-effector[J]. Journal of Vibroengineering,2018,20(7):2651-2667.
APA	Zhang, Laixi,Dhupia, Jaspreet Singh,&Wu, Mingliang.(2018).Analysis and comparison of control strategies for normal adjustment of a robotic drilling end-effector.Journal of Vibroengineering,20(7),2651-2667.
MLA	Zhang, Laixi,et al."Analysis and comparison of control strategies for normal adjustment of a robotic drilling end-effector".Journal of Vibroengineering 20.7(2018):2651-2667.