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Fuzzy-Sliding Mode Force Control Research on Robotic Machining
Joint Authors
Chen, Shouyan
Zhang, Tie
Zou, Yanbiao
Source
Issue
Vol. 2017, Issue 2017 (31 Dec. 2017), pp.1-8, 8 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2017-05-18
Country of Publication
Egypt
No. of Pages
8
Main Subjects
Abstract EN
The low stiffness has limited the applications of robot to machining process.
In this paper, a fuzzy-sliding mode control scheme is proposed to manage the oscillation and chatter appearing in machining operation by adjusting the feed rate.
The robotic machining dynamics is first analyzed to identify the parameters with focus on the system stiffness and the behavior during machining process.
A controller consisting of a fuzzy estimation enginery which can determine the control gain coefficients according to system status and a sliding mode controller which is used to guarantee convergence and global stability of the system is then proposed.
Simulations and experiments results show that, in comparison with open loop and fuzzy-PID control scheme, the fuzzy-sliding mode control scheme can reduce the amplitude and period of oscillation.
American Psychological Association (APA)
Chen, Shouyan& Zhang, Tie& Zou, Yanbiao. 2017. Fuzzy-Sliding Mode Force Control Research on Robotic Machining. Journal of Robotics،Vol. 2017, no. 2017, pp.1-8.
https://search.emarefa.net/detail/BIM-1186426
Modern Language Association (MLA)
Chen, Shouyan…[et al.]. Fuzzy-Sliding Mode Force Control Research on Robotic Machining. Journal of Robotics No. 2017 (2017), pp.1-8.
https://search.emarefa.net/detail/BIM-1186426
American Medical Association (AMA)
Chen, Shouyan& Zhang, Tie& Zou, Yanbiao. Fuzzy-Sliding Mode Force Control Research on Robotic Machining. Journal of Robotics. 2017. Vol. 2017, no. 2017, pp.1-8.
https://search.emarefa.net/detail/BIM-1186426
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1186426