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

doi:10.21595/jve.2018.19892

IR > 机电工程学院

	Analysis and comparison of control strategies for normal adjustment of a robotic drilling end-effector
	Zhang, Laixi1 ; Dhupia, Jaspreet Singh 2; Wu, Mingliang1
	2018-11-01
发表期刊	Journal of Vibroengineering
ISSN	13928716
卷号	20 期号:7 页码:2651-2667
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.
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
DOI	10.21595/jve.2018.19892
收录类别	EI ; ESCI
语种	英语
WOS研究方向	Engineering
WOS类目	Engineering, Biomedical ; Engineering, Mechanical
WOS记录号	WOS:000450051400009
出版者	JVE International
EI入藏号	20184806156574
EI主题词	Quality control
EI分类号	511.1 Oil Field Production Operations - 601 Mechanical Design - 731.1 Control Systems - 731.5 Robotics - 732.1 Control Equipment - 913.3 Quality Assurance and Control - 921 Mathematics
来源库	Compendex
分类代码	511.1 Oil Field Production Operations - 601 Mechanical Design - 731.1 Control Systems - 731.5 Robotics - 732.1 Control Equipment - 913.3 Quality Assurance and Control - 921 Mathematics
引用统计	无
文献类型	期刊论文
条目标识符	https://ir.lut.edu.cn/handle/2XXMBERH/114433
专题	机电工程学院
通讯作者	Dhupia, Jaspreet Singh
作者单位	1.Lanzhou Univ Technol, Sch Mech & Elect Engn, Lanzhou 730050, Gansu, Peoples R China; 2.Univ Auckland, Dept Mech Engn, Auckland 1142, New Zealand
第一作者单位	兰州理工大学
第一作者的第一单位	兰州理工大学
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.