Parameter adaptive sliding mode trajectory tracking strategy with initial value identification for the swing in a hydraulic construction robot.
Sci Rep
; 13(1): 5855, 2023 Apr 11.
Article
en En
| MEDLINE
| ID: mdl-37041212
ABSTRACT
A novel trajectory tracking strategy is developed for a double actuated swing in a hydraulic construction robot. Specifically, a nonlinear hydraulic dynamics model of a double actuated swing is established, and a parameter adaptive sliding mode control strategy is designed to enhance the trajectory tracking performance. When an object is grabbed and unloaded, the moment of inertia of a swing considerably changes, and the performance of the estimation algorithm is generally inadequate. Thus, it is necessary to establish an algorithm to identify the initial value of the moment of inertia of the object. To this end, this paper proposes a novel initial value identification algorithm based on a two-DOF robot gravity force identification method combined with stereo vision information. The performance of the identification algorithm is enhanced. Simulations and experiments are performed to verify the effect of the novel control scheme.
Texto completo:
1
Colección:
01-internacional
Base de datos:
MEDLINE
Tipo de estudio:
Diagnostic_studies
Idioma:
En
Revista:
Sci Rep
Año:
2023
Tipo del documento:
Article
País de afiliación:
China