Research on Precise Control of End Pose of Demolition Robot Under High-Frequency Impact
A fuzzy sliding mode control strategy is proposed to solve the problem that the reaction force generated by the high-frequency impact of the drill bit on the object during the operation of the demolition robot affects the control accuracy of the end pose.Firstly,based on the concept of equivalence,the reaction force is considered as an interference term and introduced into the dynamic equation of the dismantling arm frame;secondly,the fuzzy controller is introduced based on the traditional sliding mode controller to compensate the disturbance and improve the control quality of the system;then,the stability of the system was proved by combining Lyapunov's theorem;finally,a system model under reactive interference force was built for simulation,verifying the effectiveness and superiority of the control strategy proposed in this paper.
demolition robotreactive interference forceend posefuzzy sliding mode control
万方数据
维普
