Dual sliding mode coordinated control of manipulator grasping system with visual assistance
Pengxin Zhang
Haisheng Yu
Xiangxiang Meng
Zhe Li
Qing Yang
Xunkai Gao
College of Automation,Qingdao University,Qingdao 266071,Shandong,China;Shandong Province Key Laboratory of Industrial Control Technology,Qingdao 266071,Shandong,China
摘要：The operation efficiency of the manipulator is placed in the primary position in automatic production.This paper proposes a coordinated control strategy for joint servo and visual servo to enable timely transfer and accurate gripping in the working area.Aiming at the issues of chattering and slow convergence of traditional sliding mode controller,a fast variable power reaching rate on the basis of the non-singular fast terminal sliding mode controller is proposed,which can effectively reduce the convergence time and chattering.For the purpose of addressing the problem that the traditional visual servo control method is sensitive to the environment,a visual servo controller based on integral sliding mode is proposed,to ensure the favorable positioning accuracy of the manipulator.Based on the two proposed controllers mentioned above,a coordinated control strategy is used to implement the control of the manipulator.Finally,the upper computer software is developed using the C# programming language to monitor the workstation.The feasibility of the above-mentioned method is verified through multiple simulations and experiments.
机标关键词：visualcontrolsystemmodedualwithassistancecoordinated
论文发表日期：2024-02-05
在线出版日期：2025-08-15（本平台首次上网日期，不代表文献的发表时间）
页数：16( 106-121 )
英文信息