五自由度机械手的动力学分析及滑模控制方法

Cobot Pub Date : 2022-08-25 DOI:10.12688/cobot.17574.1

Q. Jiang, Kai Cai, Ming Ma

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引用次数: 1

摘要

背景：五自由度（5-DOF）机械手具有较高的灵活性，大大提高了加工效率和精度。它们在各种自动化领域有着广泛的应用。机械手的动力学分析与建模对提高机械手的工作精度具有重要意义。方法：针对钣金弯曲机器人任务，设计了一种基于滑模控制策略的五自由度机械手。首先，对五自由度机械手进行了动力学分析，建立了动力学方程。其次，基于滑模控制原理，提出了一种基于标称模型的五自由度机械手比例积分（PI）滑模控制方法。最后，对五自由度机械手进行了滑模控制仿真实验，验证了其稳定性。结果：采用PI滑模控制的五自由度机械手由于具有较强的鲁棒性，克服了建模误差的影响，具有良好的控制效果，有效地实现了良好的控制稳定性。结论：实验结果表明，该五自由度机械手具有良好的响应速度和稳定性。研究结果还表明，该机械手可广泛应用于医疗手术或安全要求较高的工业生产线等复杂场景。

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Dynamic analysis and sliding mode control method of 5-DOF manipulator

Background: The five degree of freedom (5-DOF) manipulator greatly improves the machining efficiency and accuracy because of its high flexibility. They see wide application in various automation fields. The dynamic analysis and modeling of manipulators is of great significance to improve the working accuracy of a manipulator. Methods: For the robot task of sheet metal bending, a 5-DOF manipulator based on sliding mode control strategy is designed in this paper. Firstly, the dynamics of the 5-DOF manipulator is analyzed and the dynamic equation is established. Secondly, based on the principle of sliding mode control, a proportional integral (PI) sliding mode control method for 5-DOF manipulator based on nominal model is proposed. Finally, the sliding mode control simulation experiment of 5-DOF manipulator is carried out to verify its stability. Results: The 5-DOF manipulator with PI sliding mode control has a good control effect by overcoming the influence of modeling error due to its strong robustness, and effectively realizes good control stability. Conclusions: The experimental results show that the 5-DOF manipulator has good response speed and stability. The results also suggest that the manipulator can be widely used in complex scenarios such as medical surgery or industrial production line with high safety requirements.

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来源期刊

Cobot collaborative robots-

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期刊介绍： Cobot is a rapid multidisciplinary open access publishing platform for research focused on the interdisciplinary field of collaborative robots. The aim of Cobot is to enhance knowledge and share the results of the latest innovative technologies for the technicians, researchers and experts engaged in collaborative robot research. The platform will welcome submissions in all areas of scientific and technical research related to collaborative robots, and all articles will benefit from open peer review. The scope of Cobot includes, but is not limited to: ● Intelligent robots ● Artificial intelligence ● Human-machine collaboration and integration ● Machine vision ● Intelligent sensing ● Smart materials ● Design, development and testing of collaborative robots ● Software for cobots ● Industrial applications of cobots ● Service applications of cobots ● Medical and health applications of cobots ● Educational applications of cobots As well as research articles and case studies, Cobot accepts a variety of article types including method articles, study protocols, software tools, systematic reviews, data notes, brief reports, and opinion articles.