Weng-Chang Shen, Haibo Xu, L. xilinx Wang, Yingkun Qian
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Motion Control of Spraying Robot System Based on Identification Information of End Sensor
The rocket tank needs to be sprayed with adiabatic coating. However, due to the particularity of tank spraying conditions, robot path planning is difficult. To improve the above problem, this paper constructs the overall scheme of the spraying robot system by using an interactive motion sensor at the end of the robot. According to the characteristics of the motion control system guided by the sensor, the basic control model of the robot system is built based on admittance control, and the control performance of the parameters of the controller is analyzed. The parameters of admittance controller are selected. The spraying task segment of the robot is characterized by cosine similarity and the running speed of the robot. Based on the fuzzy control method, a modified admittance control model with variable admittance parameter configuration is constructed. The experimental results show that the modified control model can improve the response characteristics of the robot under variable working conditions.
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