Research of Sliding Mode Variable Structure Control for a New Robot Wrist Structure
Aiming at the controlled model of a designed new type of multi- joint robot wrist structure which can be built in ADAMS and used in the MATLAB,the co- simulation with ADAMS and MATLAB is carried out. On the basis of analyzing the dynamics model of new type of robot wrist structure,the control is car...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Transmission
2017-01-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2017.01.013 |
| _version_ | 1797819316485226496 |
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| author | Huang Youxin Qian Donghai Dong Xiaokang Wu Peng |
| author_facet | Huang Youxin Qian Donghai Dong Xiaokang Wu Peng |
| author_sort | Huang Youxin |
| collection | DOAJ |
| description | Aiming at the controlled model of a designed new type of multi- joint robot wrist structure which can be built in ADAMS and used in the MATLAB,the co- simulation with ADAMS and MATLAB is carried out. On the basis of analyzing the dynamics model of new type of robot wrist structure,the control is carried out by using the method of combining computed torque method and slide mode control method,and the method of slide mode variable structure control is improved to eliminate chatter phenomenon existing in the control,the more accurate trajectory tracking effect is got. Lastly,the control effect comparison among PID method,traditional computed torque method,the proposed control method is carried out,and the validty of the proposed control method is verified. |
| first_indexed | 2024-03-13T09:21:07Z |
| format | Article |
| id | doaj.art-572a875c199e4ea3882ca2ab07a9cc84 |
| institution | Directory Open Access Journal |
| issn | 1004-2539 |
| language | zho |
| last_indexed | 2024-03-13T09:21:07Z |
| publishDate | 2017-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj.art-572a875c199e4ea3882ca2ab07a9cc842023-05-26T09:43:24ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392017-01-0141596229928079Research of Sliding Mode Variable Structure Control for a New Robot Wrist StructureHuang YouxinQian DonghaiDong XiaokangWu PengAiming at the controlled model of a designed new type of multi- joint robot wrist structure which can be built in ADAMS and used in the MATLAB,the co- simulation with ADAMS and MATLAB is carried out. On the basis of analyzing the dynamics model of new type of robot wrist structure,the control is carried out by using the method of combining computed torque method and slide mode control method,and the method of slide mode variable structure control is improved to eliminate chatter phenomenon existing in the control,the more accurate trajectory tracking effect is got. Lastly,the control effect comparison among PID method,traditional computed torque method,the proposed control method is carried out,and the validty of the proposed control method is verified.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2017.01.013ADAMS MATLAB;PID control;Computed torque;Slide mode control |
| spellingShingle | Huang Youxin Qian Donghai Dong Xiaokang Wu Peng Research of Sliding Mode Variable Structure Control for a New Robot Wrist Structure Jixie chuandong ADAMS MATLAB;PID control;Computed torque;Slide mode control |
| title | Research of Sliding Mode Variable Structure Control for a New Robot Wrist Structure |
| title_full | Research of Sliding Mode Variable Structure Control for a New Robot Wrist Structure |
| title_fullStr | Research of Sliding Mode Variable Structure Control for a New Robot Wrist Structure |
| title_full_unstemmed | Research of Sliding Mode Variable Structure Control for a New Robot Wrist Structure |
| title_short | Research of Sliding Mode Variable Structure Control for a New Robot Wrist Structure |
| title_sort | research of sliding mode variable structure control for a new robot wrist structure |
| topic | ADAMS MATLAB;PID control;Computed torque;Slide mode control |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2017.01.013 |
| work_keys_str_mv | AT huangyouxin researchofslidingmodevariablestructurecontrolforanewrobotwriststructure AT qiandonghai researchofslidingmodevariablestructurecontrolforanewrobotwriststructure AT dongxiaokang researchofslidingmodevariablestructurecontrolforanewrobotwriststructure AT wupeng researchofslidingmodevariablestructurecontrolforanewrobotwriststructure |