Pneumatic Compliant End-effector Using Multi-compensation Integrated Nonlinear Active Disturbance Rejection Control

Pneumatic Compliant End-effector Using Multi-compensation Integrated Nonlinear Active Disturbance Rejection Control

ObjectiveIn robotic polishing operations, an end-effector polishing mechanism is typically used to achieve constant force control. Therefore, the performance of this control directly affects the quality and efficiency of the polishing process. Among various end-effector mechanisms, the pneumatic typ...

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Bibliographic Details
Main Authors: ZHANG Shuzhong, WU Qianxin, DAI Fuquan, WANG Yabing, ZHANG Gong
Format: Article
Language:English
Published: Editorial Department of Journal of Sichuan University (Engineering Science Edition) 2025-05-01
Series:工程科学与技术
Subjects:
force control
pneumatic system
LuGre friction model compensation
gravity compensation
active disturbance rejection control
Online Access:http://jsuese.scu.edu.cn/thesisDetails#10.12454/j.jsuese.202300718
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