软件导刊2024，Vol.23Issue(1)：14-20,7.DOI:10.11907/rjdk.222445
分拣并联机器人自适应滑模控制
Sorting-parallel Robot Adaptive Sliding Mode Control
摘要
Abstract
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.关键词
并联机器人/在线辨识/转动惯量/滑模控制Key words
parallel robot/online identification/moment of inertia/sliding mode control分类
计算机与自动化引用本文复制引用
刘涛,高国琴..分拣并联机器人自适应滑模控制[J].软件导刊,2024,23(1):14-20,7.基金项目
国家自然科学基金项目(51375210) （51375210）
镇江市重点研发计划项目(GZ2018004) （GZ2018004）
