Adaptive End-Effector Buffeting Sliding Mode Control for Heavy-Duty Robots with Long Arms

Wenqiang Wu, Guangxiang Qin, Zhongmin Xiao (), Weicong Wu, Chaozheng Chen, Mingfeng Yu, Zhiye Ren, Tie Zhang () and Gaofeng Long
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Wenqiang Wu: School of Mechanical and Electrical Engineering, Guangzhou University, Guangzhou 510006, China
Guangxiang Qin: School of Mechanical and Electrical Engineering, Guangzhou University, Guangzhou 510006, China
Zhongmin Xiao: School of Mechanical and Electrical Engineering, Guangzhou University, Guangzhou 510006, China
Weicong Wu: School of Mechanical and Electrical Engineering, Guangzhou University, Guangzhou 510006, China
Chaozheng Chen: School of Mechanical and Electrical Engineering, Guangzhou University, Guangzhou 510006, China
Mingfeng Yu: School of Mechanical and Electrical Engineering, Guangzhou University, Guangzhou 510006, China
Zhiye Ren: School of Mechanical and Electrical Engineering, Guangzhou University, Guangzhou 510006, China
Tie Zhang: School of Mechanical and Automotive Engineering, South China University of Technology, Guangzhou 510641, China
Gaofeng Long: Guangzhou Shengyilong Automatic Control Technology Co., Ltd., Guangzhou 510890, China

Mathematics, 2023, vol. 11, issue 13, 1-15

Abstract: This study aims to resolve the problems of low precision, poor flexibility and unstable operation in the control performance of loading robots with long telescopic booms and heavy loads. Firstly, the kinematics and dynamics of long-arm heavy-duty robots are analyzed, and the dynamics model of a long-arm heavy-duty robot is established using the Lagrange method. A new power-hybrid sliding-mode approach law is proposed, and a hybrid force/position control strategy is used to control long-arm heavy-duty robots. The position control of long-arm heavy-duty robots uses a new sliding-mode adaptive control to improve the position accuracy of important joints, and PD control is used to force control the other joints. The two-stage telescopic arm is flexible and the long-arm heavy-load robot is simulated. The simulation results show that the long-arm heavy-load robot obtained using the improved sliding-mode adaptive control algorithm has good track-tracking and jitter-suppression effects. The new power-hybrid sliding-mode controller designed in this paper reduces the jitter amplitude of the end-effector of long-arm heavy-duty robots by 28.75%, 10.92% and 16.22%, respectively, compared with the existing new approach law sliding-mode controller. The simulation results show that the proposed power-hybrid reaching law sliding-mode controller can effectively reduce the amplitude difference of the end-effector. Finally, the force/position control strategy is combined with force-based impedance control, and the design process of impedance controller parameters is introduced, which provides a reference for the trajectory-tracking and vibration-suppression of end-effectors of long-arm heavy-duty robots.

Keywords: adaptive sliding-mode control; end-effector chattering; long-arm heavy-duty robot; impedance control (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2023
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