用于检测和清洗操作的二自由度机械臂的机械设计与控制

2022 5th International Conference on Advanced Systems and Emergent Technologies (IC_ASET) Pub Date : 2022-03-22 DOI:10.1109/IC_ASET53395.2022.9765933

C. Zaoui, Helmi Abrougui, Mohamed Amine Meftah, Saber Hachicha, Ahmed Moulhi, Habib Dallagi

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引用次数: 0

摘要

本文研究了二自由度自主机械臂的建模与控制问题。首先提出并描述了机械手的机械设计。它是为船舶检查和清洁操作而设计的。采用滑模控制与反馈线性化相结合的控制方法。仿真结果表明了所提控制律的有效性。

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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Mechanical Design and Control of an Arm with Two Degrees of Freedom for Inspection and Cleaning Operations

This paper deals with the modeling and control of an autonomous arm with two degrees of freedom. The arm mechanical design was firstly proposed and described. It is designed for ship inspection and cleaning operations. The proposed control technique was developed using sliding mode control combined with feedback linearization approach. Simulation results were carried out to show the effectiveness of the proposed control law.

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2022 5th International Conference on Advanced Systems and Emergent Technologies (IC_ASET)

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