Fuzzy sliding mode variable structure control of a high-speed parallel PnP robot

TY - JOUR

T1 - Fuzzy sliding mode variable structure control of a high-speed parallel PnP robot

AU - Wu, Guanglei

AU - Zhang, Xuping

AU - Zhu, Lina

AU - Lin, Zirong

AU - Liu, Jinguo

PY - 2021/8

Y1 - 2021/8

N2 - This paper presents the analysis and experimental evaluation of robot dynamics and control for a four-limb parallel Schönflies-motion generator dedicating to fast pick-and-place operations, with a different topological architecture from its counterparts for efficient use of shop-floor space. The concise equation of motion is built with principle of virtual work to characterize the robot dynamics, which is integrated into the model-based control design. Fuzzy sliding mode variable structure control is adopted for the design of control scheme, aiming at buffeting suppression of the actuated joints and minimization of pose errors of robot end-effector. Numerical simulations are carried out along a trajectory of an industrial standard testing cycle to evaluate the performance, which is validated experientially by observing the joint dynamics. The results show the effectiveness of the developed dynamic control scheme for fast parallel pick-and-place robots.

AB - This paper presents the analysis and experimental evaluation of robot dynamics and control for a four-limb parallel Schönflies-motion generator dedicating to fast pick-and-place operations, with a different topological architecture from its counterparts for efficient use of shop-floor space. The concise equation of motion is built with principle of virtual work to characterize the robot dynamics, which is integrated into the model-based control design. Fuzzy sliding mode variable structure control is adopted for the design of control scheme, aiming at buffeting suppression of the actuated joints and minimization of pose errors of robot end-effector. Numerical simulations are carried out along a trajectory of an industrial standard testing cycle to evaluate the performance, which is validated experientially by observing the joint dynamics. The results show the effectiveness of the developed dynamic control scheme for fast parallel pick-and-place robots.

KW - Fuzzy sliding mode variable structure control

KW - Parallel Schönflies-motion generator

KW - Pick-and-place

KW - Robot dynamics

UR - http://www.scopus.com/inward/record.url?scp=85104131402&partnerID=8YFLogxK

U2 - 10.1016/j.mechmachtheory.2021.104349

DO - 10.1016/j.mechmachtheory.2021.104349

M3 - Journal article

SN - 0094-114X

VL - 162

JO - Mechanism and Machine Theory

JF - Mechanism and Machine Theory

M1 - 104349

ER -