Adaptive Sliding Mode Positioning Control of Hydraulic Heavy-load Two-degree-of-freedom Gripper
As the end attachment of the manipulator,the hydraulic heavy-load two-degree-of-freedom gripper has an important impact on the gripping accuracy,robustness and other performance of the manipulator.However,the nonlinear characteristics and time-varying parameters of the hydraulic system limit the application of the gripper. Based on a heavy-load two-degree-of-freedom hydraulic gripper,this paper studies the adaptive sliding mode control method.Position control simulation is performed under four load conditions.The simulation results show that the adaptive sliding mode controller can effectively achieve accurate position control of the two-degree-of-freedom gripper.Under heavy-load conditions,the control error of the adaptive sliding mode controller can be reduced by more than 85％ and 60％ compared with the PID controller and the sliding mode controller,respectively.
hydraulic robotrobotic gripperadaptive sliding mode controlpositioning control
万方数据
维普
