A Robotic Drilling End-Effector and Its Sliding Mode Control for the Normal Adjustment

A Robotic Drilling End-Effector and Its Sliding Mode Control for the Normal Adjustment

A robotic drilling end-effector is designed and modeled, and a sliding mode variable structure control architecture based on the reaching law is proposed for its normal adjustment dynamic control. By using a third-order nonlinear integration chain differentiator for obtaining the unmeasurable speed...

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Bibliographic Details
Main Authors: Laixi Zhang, Jaspreet Singh Dhupia, Mingliang Wu, Hua Huang
Format: Article
Language:English
Published: MDPI AG 2018-10-01
Series:Applied Sciences
Subjects:
dynamical model
nonlinear differentiator
robotic drilling
sliding mode control
drilling end-effector
Online Access:http://www.mdpi.com/2076-3417/8/10/1892

Internet

http://www.mdpi.com/2076-3417/8/10/1892

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