The operation efficiency of the manipulator is placed in the primary position in automatic production. This paper proposes a coordinated control strategy for joint servo and visual servo to enable timely transfer and ...The operation efficiency of the manipulator is placed in the primary position in automatic production. This paper proposes a coordinated control strategy for joint servo and visual servo to enable timely transfer and accurate gripping in the working area. Aiming at the issues of chattering and slow convergence of traditional sliding mode controller, a fast variable power reaching rate on the basis of the non-singular fast terminal sliding mode controller is proposed, which can effectively reduce the convergence time and chattering. For the purpose of addressing the problem that the traditional visual servo control method is sensitive to the environment, a visual servo controller based on integral sliding mode is proposed, to ensure the favorable positioning accuracy of the manipulator. Based on the two proposed controllers mentioned above, a coordinated control strategy is used to implement the control of the manipulator. Finally, the upper computer software is developed using the C# programming language to monitor the workstation. The feasibility of the above-mentioned method is verified through multiple simulations and experiments.展开更多
With regards to the assembly line of cost control of Dechang(HK)company,the motor housing’s cost control of process will be necessarily respected.Because the supply quantity is big in a machine the price of motor hou...With regards to the assembly line of cost control of Dechang(HK)company,the motor housing’s cost control of process will be necessarily respected.Because the supply quantity is big in a machine the price of motor housing is small,so that the cost control of automatic production line is significant with modeling.It is found that the control of equipment includes in shaft and crank linkage for benefit which also needs to be controlled in detail.For the sake of benefits can we fundamentally resolve the main problem of high cost process.展开更多
With regards to the assembly line of cost control of Dechang company,the motor housing′s cost control of process will be necessarily appreciated.Though the supply quantity is large in a machine and the price of motor...With regards to the assembly line of cost control of Dechang company,the motor housing′s cost control of process will be necessarily appreciated.Though the supply quantity is large in a machine and the price of motor housing is cheaper,the cost control of automatic production line is significant in this respection.It is found that insufficiency power is main cause for production line failure.The cost control of equipment includes to structure wheel,conveyor and motor for benefit which also needs to be controlled in detail.Only in this way can we fundamentally resolve the main problem of high cost process.When the capital price L increases,Avc also increases too with nonlinear meantime,and Tc&Vc increase in proportion to K.Among them,the Tc increases the highest and then Vc increases lightly.Generally when labour quantity L and capital quantity K increase cost increases in proportion.展开更多
基金supported by the National Natural Science Foundation of China(No.62273189)the Natural Science Foundation of Shandong Province(No.ZR2021MF005).
文摘The operation efficiency of the manipulator is placed in the primary position in automatic production. This paper proposes a coordinated control strategy for joint servo and visual servo to enable timely transfer and accurate gripping in the working area. Aiming at the issues of chattering and slow convergence of traditional sliding mode controller, a fast variable power reaching rate on the basis of the non-singular fast terminal sliding mode controller is proposed, which can effectively reduce the convergence time and chattering. For the purpose of addressing the problem that the traditional visual servo control method is sensitive to the environment, a visual servo controller based on integral sliding mode is proposed, to ensure the favorable positioning accuracy of the manipulator. Based on the two proposed controllers mentioned above, a coordinated control strategy is used to implement the control of the manipulator. Finally, the upper computer software is developed using the C# programming language to monitor the workstation. The feasibility of the above-mentioned method is verified through multiple simulations and experiments.
文摘With regards to the assembly line of cost control of Dechang(HK)company,the motor housing’s cost control of process will be necessarily respected.Because the supply quantity is big in a machine the price of motor housing is small,so that the cost control of automatic production line is significant with modeling.It is found that the control of equipment includes in shaft and crank linkage for benefit which also needs to be controlled in detail.For the sake of benefits can we fundamentally resolve the main problem of high cost process.
文摘With regards to the assembly line of cost control of Dechang company,the motor housing′s cost control of process will be necessarily appreciated.Though the supply quantity is large in a machine and the price of motor housing is cheaper,the cost control of automatic production line is significant in this respection.It is found that insufficiency power is main cause for production line failure.The cost control of equipment includes to structure wheel,conveyor and motor for benefit which also needs to be controlled in detail.Only in this way can we fundamentally resolve the main problem of high cost process.When the capital price L increases,Avc also increases too with nonlinear meantime,and Tc&Vc increase in proportion to K.Among them,the Tc increases the highest and then Vc increases lightly.Generally when labour quantity L and capital quantity K increase cost increases in proportion.
