Sorting-parallel Robot Adaptive Sliding Mode Control
The sorting load of the string fruit sorting parallel robot is unknown and dynamically changing.When the fruit string is entangled,it will cause a significant change in the rotational inertia of the load.To achieve high-performance control of a string fruit sorting parallel robot,an adaptive sliding mode control algorithm is proposed that can identify the system load moment of inertia online.On the basis of analyzing the mechanical motion equations of AC servo motors,a gradient correction parameter identification algorithm is used to identify the load moment of inertia,and an adaptive rule is designed to improve the ability of parallel robot systems to overcome load changes while effectively suppress-ing chattering caused by sliding mode control.The control algorithm was simulated on MATLAB and applied to the prototype platform of a seri-al fruit sorting parallel robot for experiments.The experimental results verified the effectiveness of the algorithm in identifying load changes.
parallel robotonline identificationmoment of inertiasliding mode control
国家科技期刊平台
NSTL
万方数据
维普
