Constraint-following vibration control for robot follow-up support system under force-stiffness interdependence

IF 4.4 2区工程技术 Q1 ENGINEERING, MULTIDISCIPLINARY

Applied Mathematical Modelling Pub Date : 2025-09-04 DOI:10.1016/j.apm.2025.116415

Zhao Liu , Fangfang Dong , Xiaomin Zhao , Jiang Han , Ye-Hwa Chen

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引用次数: 0

Abstract

The robot follow-up support system provides a cost-effective and flexible support solution for machining thin-walled workpieces. In the past, however, the control design had been a challenge, mainly due to the difficulty in coping with the complex coupling and time-varying dynamic characteristics of the follow-up support system. This study proposes a novel heterogeneous hybrid stiffness model in a “parallel-serial-parallel” structure, along with a constraint-following control method for vibration suppression. First, a second-order vibration model of the follow-up support system was developed, capturing the primary stiffness characteristics of the system while simplifying the modeling through mass bundling. Second, time-varying stiffness analytical expressions are established for the main stiffness components, including the local workpiece region, gas springs at support modules, and the normal stiffness of the robot end-effector, facilitating real-time substitution in the control process. Third, the controllable air pressure term was separated from both sides of the vibration equation, yielding an equivalent underactuated system, and a constraint-following control algorithm was designed. The simulations demonstrate that the proposed control algorithm meets the servo requirements with high precision.

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力-刚度相互依赖下机器人随动支撑系统的约束跟随振动控制

机器人随动支撑系统为薄壁工件的加工提供了一种经济、灵活的支撑解决方案。然而，过去的控制设计一直是一个挑战，主要是由于难以应对后续支持系统的复杂耦合和时变动态特性。本文提出了一种新型的“并联-串联-并联”结构的非均质混合刚度模型，以及一种约束跟随控制方法来抑制振动。首先，建立了后续支撑系统的二阶振动模型，捕捉了系统的基本刚度特性，并通过质量捆绑简化了建模；其次，建立了工件局部区域、支撑模块气弹簧、机器人末端执行器法向刚度等主要刚度分量的时变刚度解析表达式，实现了控制过程的实时替换。第三，将可控气压项从振动方程两侧分离出来，得到一个等效欠驱动系统，并设计了约束跟随控制算法。仿真结果表明，所提出的控制算法满足伺服精度要求。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Applied Mathematical Modelling 数学-工程：综合

CiteScore

9.80

自引率

8.00%

发文量

508

审稿时长

43 days

期刊介绍： Applied Mathematical Modelling focuses on research related to the mathematical modelling of engineering and environmental processes, manufacturing, and industrial systems. A significant emerging area of research activity involves multiphysics processes, and contributions in this area are particularly encouraged. This influential publication covers a wide spectrum of subjects including heat transfer, fluid mechanics, CFD, and transport phenomena; solid mechanics and mechanics of metals; electromagnets and MHD; reliability modelling and system optimization; finite volume, finite element, and boundary element procedures; modelling of inventory, industrial, manufacturing and logistics systems for viable decision making; civil engineering systems and structures; mineral and energy resources; relevant software engineering issues associated with CAD and CAE; and materials and metallurgical engineering. Applied Mathematical Modelling is primarily interested in papers developing increased insights into real-world problems through novel mathematical modelling, novel applications or a combination of these. Papers employing existing numerical techniques must demonstrate sufficient novelty in the solution of practical problems. Papers on fuzzy logic in decision-making or purely financial mathematics are normally not considered. Research on fractional differential equations, bifurcation, and numerical methods needs to include practical examples. Population dynamics must solve realistic scenarios. Papers in the area of logistics and business modelling should demonstrate meaningful managerial insight. Submissions with no real-world application will not be considered.