Implementation of robot-based motion control in optical machining demonstrably enhances the machining quality.The introduction of motion-copying method enables learning and replicating manipulation from experienced te...Implementation of robot-based motion control in optical machining demonstrably enhances the machining quality.The introduction of motion-copying method enables learning and replicating manipulation from experienced technicians.Nevertheless,the location uncertainties of objects and frequent switching of manipulated spaces in practical applications impose constraints on their further advancement.To address this issue,a motion-copying system with a symbol-sequence-based phase switch control(SSPSC)scheme was developed by transferring the operating skills and intelligence of technicians to mechanisms.The manipulation process is decomposed,symbolised,rearranged,and reproduced according to the manufacturing characteristics regardless of the change in object location.A force-sensorless adaptive sliding-mode-assisted reaction force observer(ASMARFOB),wherein a novel dual-layer adaptive law was designed for high-performance fine force sensing,was established.The uniformly ultimate boundedness(UUB)of the ASMARFOB is guaranteed based on the Lyapunov stability theory,and the switching stability of the SSPSC was examined.Validation simulations and experiments demonstrated that the proposed method enables better motion reproduction with high consistency and adaptability.The findings of this study can provide effective theoretical and practical guidance for high-precision intelligent optical manufacturing.展开更多
基金supported in part by the National Science Foundation of China,under grant numbers T2122001 and 12203049in part by the Key Research Program of Frontier Sciences,CAS,under grant number ZDBS-LY-JSC044in part by the Youth Innovation Promotion Association of the Chinese Academy of Sciences under Grant number 2023230.
文摘Implementation of robot-based motion control in optical machining demonstrably enhances the machining quality.The introduction of motion-copying method enables learning and replicating manipulation from experienced technicians.Nevertheless,the location uncertainties of objects and frequent switching of manipulated spaces in practical applications impose constraints on their further advancement.To address this issue,a motion-copying system with a symbol-sequence-based phase switch control(SSPSC)scheme was developed by transferring the operating skills and intelligence of technicians to mechanisms.The manipulation process is decomposed,symbolised,rearranged,and reproduced according to the manufacturing characteristics regardless of the change in object location.A force-sensorless adaptive sliding-mode-assisted reaction force observer(ASMARFOB),wherein a novel dual-layer adaptive law was designed for high-performance fine force sensing,was established.The uniformly ultimate boundedness(UUB)of the ASMARFOB is guaranteed based on the Lyapunov stability theory,and the switching stability of the SSPSC was examined.Validation simulations and experiments demonstrated that the proposed method enables better motion reproduction with high consistency and adaptability.The findings of this study can provide effective theoretical and practical guidance for high-precision intelligent optical manufacturing.
