A Robotic Drilling End-Effector and Its Sliding Mode Control for the Normal Adjustment

doi:10.3390/app8101892

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	A Robotic Drilling End-Effector and Its Sliding Mode Control for the Normal Adjustment
	Zhang, Laixi1 ; Dhupia, Jaspreet Singh 2; Wu, Mingliang1 ; Huang, Hua 1
	2018-10
发表期刊	APPLIED SCIENCES-BASEL
ISSN	2076-3417
卷号	8 期号:10
摘要	A robotic drilling end-effector is designed and modeled, and a sliding mode variable structure control architecture based on the reaching law is proposed for its normal adjustment dynamic control. By using a third-order nonlinear integration chain differentiator for obtaining the unmeasurable speed and acceleration signals from the position signals, this sliding mode control scheme is developed with good dynamic quality. The new control law ensures global stability of the entire system and achieves both stabilization and tracking within a desired accuracy. A real-time control experiment platform is established in xPC target environment based on MATLAB Real-Time Workshop (RTW) to verify the proposed control scheme and simulation results. Simulations and experiments performed on the designed robotic end-effector illustrate and clarify that the proposed control scheme is effective.
关键词	dynamical model nonlinear differentiator robotic drilling sliding mode control drilling end-effector
DOI	10.3390/app8101892
收录类别	SCI ; SCIE
语种	英语
资助项目	Natural Science Foundation of Gansu Province, China[1508RJZA075]
WOS研究方向	Chemistry ; Materials Science ; Physics
WOS类目	Chemistry, Multidisciplinary ; Materials Science, Multidisciplinary ; Physics, Applied
WOS记录号	WOS:000448653700187
出版者	MDPI
引用统计	被引频次：6[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	https://ir.lut.edu.cn/handle/2XXMBERH/32434
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, Private Bag 92019, 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,et al. A Robotic Drilling End-Effector and Its Sliding Mode Control for the Normal Adjustment[J]. APPLIED SCIENCES-BASEL,2018,8(10).
APA	Zhang, Laixi,Dhupia, Jaspreet Singh,Wu, Mingliang,&Huang, Hua.(2018).A Robotic Drilling End-Effector and Its Sliding Mode Control for the Normal Adjustment.APPLIED SCIENCES-BASEL,8(10).
MLA	Zhang, Laixi,et al."A Robotic Drilling End-Effector and Its Sliding Mode Control for the Normal Adjustment".APPLIED SCIENCES-BASEL 8.10(2018).

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