N-PD cross-coupling synchronization control based on adjacent coupling error analysis
| Autor: | Wu Mingyue, Ting-ting Chu, Le Liang, Yanjie Liu |
|---|---|
| Rok vydání: | 2018 |
| Předmět: |
0209 industrial biotechnology
Computer science business.industry 020208 electrical & electronic engineering Metals and Alloys General Engineering Servo control Tracking system EtherCAT 02 engineering and technology Kinematics Nonlinear control Computer Science::Robotics Mechanical system Nonlinear system 020901 industrial engineering & automation Control theory 0202 electrical engineering electronic engineering information engineering Robot business |
| Zdroj: | Journal of Central South University. 25:1154-1164 |
| ISSN: | 2227-5223 2095-2899 |
| Popis: | In order to improve the trajectory tracking precision and reduce the synchronization error of a 6-DOF lightweight robot, nonlinear proportion-deviation (N-PD) cross-coupling synchronization control strategy based on adjacent coupling error analysis is presented. The mathematical models of the robot, including kinematic model, dynamic model and spline trajectory planing, are established and verified. Since it is difficult to describe the real-time contour error of the robot for complex trajectory, the adjacent coupling error is analyzed to solve the problem. Combined with nonlinear control and coupling performance of the robot, N-PD cross-coupling synchronization controller is designed and validated by simulation analysis. A servo control experimental system which mainly consists of laser tracking system, the robot mechanical system and EtherCAT based servo control system is constructed. The synchronization error is significantly decreased and the maximum trajectory error is reduced from 0.33 mm to 0.1 mm. The effectiveness of the control algorithm is validated by the experimental results, thus the control strategy can improve the robot’s trajectory tracking precision significantly. |
| Databáze: | OpenAIRE |
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