自由曲面磨削轨迹跟踪的自适应SMC

2016 IEEE 14th International Conference on Industrial Informatics (INDIN) Pub Date : 2016-07-01 DOI:10.1109/INDIN.2016.7819158

Sophie Klecker, P. Plapper

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引用次数: 0

摘要

这项工作是实现自由曲面磨削自动化的第一步。提出了一种包含在不同表面之间切换、切割深度恒定以及系统固有和环境不确定性的路径控制策略。通过仿真验证了具有自适应参数更新规律的滑模控制方案。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Adaptive SMC for trajectory tracking in freeform grinding

This work is a first step to the automation of freeform surface grinding. A control strategy for a robotic manipulator following a path which includes switching between different surfaces, constant depths of cut and system-inherent as well as environmental uncertainties is presented. The sliding mode control scheme with adaptive parameter update law is verified through simulation.

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2016 IEEE 14th International Conference on Industrial Informatics (INDIN)

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