Tracking control of an uncertain heavy load robot based on super ...
WEBSep 29, 2021 · This paper presents a new combined strategy to control an uncertain heavy load robot with position disturbance caused by flexible foot, and the control strategy is realized only by position feedback.
Improvement of Heavy Load Robot Positioning Accuracy by …
WEBJan 16, 2020 · The positioning accuracy of a robot is of great significance in advanced robotic manufacturing systems. This paper proposes a novel calibration method for improving robot positioning accuracy.
Consistency optimal coordination control of underground heavy-load …
WEBJan 1, 2023 · Based on the implementation modes of underground heavy-load robot, the MCS has been decoupled into fixed-point operation mode and non-fixed-point operation mode. The Nyquist stability and Lyapunov stability are applied to discriminate dynamic stability of two operating modes respectively.
Parallel collaborative planning for the coupled system of …
WEBApr 15, 2021 · The implementation of heavy-load operations from the underground heavy-load robot is mainly based on the movement of executive arms mechanism, supplemented by the actions of first level walking mechanism and the actions of third level turntable mechanism.
Adaptive End-Effector Buffeting Sliding Mode Control for Heavy …
WEBJul 4, 2023 · The position control of long-arm heavy-duty robots uses a new sliding-mode adaptive control to improve the position accuracy of important joints, and PD control is used to force control the other joints. The two-stage telescopic arm is flexible and the long-arm heavy-load robot is simulated.
Consistency optimal coordination control of underground heavy-load …
WEBJan 1, 2023 · The underground heavy-load robot is developed to adapt to the long, narrow, closed, damp and severe non-structural environment of underground coal mines, with an effective working load 5 T, which can efficiently and flexibly complete multiple heavy-duty operations such like lifting, transferring, supporting etc. …
Tracking control of an uncertain heavy load robot based on super ...
WEBSep 29, 2021 · A new method to control uncertain robot manipulators by using only position measurements, based on a combination of a computed torque controller with a higher-order sliding-mode observer and a fuzzy compensator, which increases the potential of the CTC for real robot applications.
Tracking control of an uncertain heavy load robot based on super ...
WEBSep 1, 2021 · This paper presents a new combined strategy to control an uncertain heavy load robot with position disturbance caused by flexible foot, and the control strategy is realized only by position...
A new approach to enhance the stiffness of heavy-load parallel …
WEBFeb 1, 2020 · Different from the previous methods including the structural comparison and dimensional synthesis, a new approach to enhance the stiffness of heavy-load parallel robots from the direction of component selection is proposed in this paper.
Adaptive End-Effector Buffeting Sliding Mode Control for Heavy …
WEBJul 4, 2023 · The new power-hybrid sliding-mode controller designed in this paper reduces the jitter amplitude of the end-effector of long-arm heavy-duty robots by 28.75%, 10.92% and 16.22%, respectively,...