To improve the dynamic tracking ability of spot welding manipulator withheavy payload, a new programmable motion controller, which can provide software and hardwaresupports for several kinds of control algorithms, is ...To improve the dynamic tracking ability of spot welding manipulator withheavy payload, a new programmable motion controller, which can provide software and hardwaresupports for several kinds of control algorithms, is developed first. Then, a decentralized adaptivecontrol algorithm is used to compensate the coupling between the manipulator joints, and thealgorithm is easy to implement based on the motion controller. Finally, experiments demonstratethat, compared with the traditional PID, the dynamic tracking ability of the manipulator can beobviously improved with this algorithm.展开更多
A novel adaptive sliding mode control algo- rithm is derived to deal with seam tracking control problem of welding robotic manipulator, during the process of large-scale structure component welding. The proposed algor...A novel adaptive sliding mode control algo- rithm is derived to deal with seam tracking control problem of welding robotic manipulator, during the process of large-scale structure component welding. The proposed algorithm does not require the precise dynamic model, and is more practical. Its robustness is verified by the Lyapunov stability theory. The analytical results show that the proposed algorithm enables better high-precision tracking performance with chattering-free than traditional sliding mode control algorithm under various disturbances.展开更多
基金This project is supported by China Postdoctoral Science Foundation (No.2003033123).
文摘To improve the dynamic tracking ability of spot welding manipulator withheavy payload, a new programmable motion controller, which can provide software and hardwaresupports for several kinds of control algorithms, is developed first. Then, a decentralized adaptivecontrol algorithm is used to compensate the coupling between the manipulator joints, and thealgorithm is easy to implement based on the motion controller. Finally, experiments demonstratethat, compared with the traditional PID, the dynamic tracking ability of the manipulator can beobviously improved with this algorithm.
基金The work here was supported by the National Science and Technology Supporting Plan （Crrant No. 2015BAF01B04）, Collaborative Innovation Center of High-End Manufacturing Equipment, the National Key Basic Research Program of China （Grant No. 2011 CB706803）, the National Natural Science Foundation of China （Grant No. 51175208）, the Funda- mental Research Funds for the Central Universities （Grant Nos. 2013ZZGH001 and 2014CG006）.
文摘A novel adaptive sliding mode control algo- rithm is derived to deal with seam tracking control problem of welding robotic manipulator, during the process of large-scale structure component welding. The proposed algorithm does not require the precise dynamic model, and is more practical. Its robustness is verified by the Lyapunov stability theory. The analytical results show that the proposed algorithm enables better high-precision tracking performance with chattering-free than traditional sliding mode control algorithm under various disturbances.
