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| Dual sliding mode coordinated control of manipulator grasping system with visual assistance |
| PengxinZhang1,2,HaishengYu1,2,XiangxiangMeng1,2,ZheLi1,2,QingYang1,2,XunkaiGao1,2 |
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| (1 College of Automation, Qingdao University, Qingdao 266071, Shandong, China;
2 Shandong Province Key Laboratory of Industrial Control Technology, Qingdao 266071, Shandong, China.) |
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| 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. |
| 关键词: Automatic production · Joint servo · Visual servo · Coordinated control · Non-singular fast terminal sliding mode · Integral sliding mode |
| DOI：https://doi.org/10.1007/s11768-023-00178-3 |
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| 基金项目:This work was supported by the National Natural Science Foundation of China (No. 62273189) and the Natural Science Foundation of Shandong Province (No. ZR2021MF005). |
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| Dual sliding mode coordinated control of manipulator grasping system with visual assistance |
| Pengxin Zhang1,2,Haisheng Yu1,2,Xiangxiang Meng1,2,Zhe Li1,2,Qing Yang1,2,Xunkai Gao1,2 |
| (1 College of Automation, Qingdao University, Qingdao 266071, Shandong, China;
2 Shandong Province Key Laboratory of Industrial Control Technology, Qingdao 266071, Shandong, China.) |
| Abstract: |
| 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. |
| Key words: Automatic production · Joint servo · Visual servo · Coordinated control · Non-singular fast terminal sliding mode · Integral sliding mode |
