Optimized Control for Dynamical Performance of the Polishing Robot in Unstructured Environment
In this paper, the dynamical performance of polishing robot working in unstructured environment is investigated. Structure mechanism and operating principle of a polishing robot are introduced firstly, and its dynamical model is established. Then, a S-shaped acceleration-deceleration path planning m...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2011-01-01
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| Series: | Shock and Vibration |
| Online Access: | http://dx.doi.org/10.3233/SAV-2010-0603 |
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| _version_ | 1832558072750407680 |
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| author | Zhong Luo Shuxian Yang Yilan Sun Hongyi Liu |
| author_facet | Zhong Luo Shuxian Yang Yilan Sun Hongyi Liu |
| author_sort | Zhong Luo |
| collection | DOAJ |
| description | In this paper, the dynamical performance of polishing robot working in unstructured environment is investigated. Structure mechanism and operating principle of a polishing robot are introduced firstly, and its dynamical model is established. Then, a S-shaped acceleration-deceleration path planning method and a human-simulated intelligent control (HSIC) strategy are proposed. The S-shaped acceleration-deceleration path planning method is to switch the magnitude and direction of the abrupt velocities between motion sections in order to improve the work efficiency, the smoothness of movement and the processing accuracy. The HSIC control strategy is built based on the unstructured environment information measured by ultrasonic sensors, in which the appropriate programs prepared in advance are determined according to the size and sign of both the control error and its change rate. Simulation results show that the intelligent control strategy combining with optimum path planning method are effective to reduce the structure vibration, to improve the stability and the control accuracy of the polishing robot system. |
| format | Article |
| id | doaj-art-efd987a4d96845de8914c71eefd11f94 |
| institution | Kabale University |
| issn | 1070-9622 1875-9203 |
| language | English |
| publishDate | 2011-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Shock and Vibration |
| spelling | doaj-art-efd987a4d96845de8914c71eefd11f942025-02-03T01:33:23ZengWileyShock and Vibration1070-96221875-92032011-01-01181-235536410.3233/SAV-2010-0603Optimized Control for Dynamical Performance of the Polishing Robot in Unstructured EnvironmentZhong Luo0Shuxian Yang1Yilan Sun2Hongyi Liu3School of Mechanical Engineering and Automation, Northeastern University, Shenyang, 110004, ChinaSchool of Mechanical Engineering and Automation, Northeastern University, Shenyang, 110004, ChinaSchool of Mechanical Engineering and Automation, Northeastern University, Shenyang, 110004, ChinaSchool of Mechanical Engineering and Automation, Northeastern University, Shenyang, 110004, ChinaIn this paper, the dynamical performance of polishing robot working in unstructured environment is investigated. Structure mechanism and operating principle of a polishing robot are introduced firstly, and its dynamical model is established. Then, a S-shaped acceleration-deceleration path planning method and a human-simulated intelligent control (HSIC) strategy are proposed. The S-shaped acceleration-deceleration path planning method is to switch the magnitude and direction of the abrupt velocities between motion sections in order to improve the work efficiency, the smoothness of movement and the processing accuracy. The HSIC control strategy is built based on the unstructured environment information measured by ultrasonic sensors, in which the appropriate programs prepared in advance are determined according to the size and sign of both the control error and its change rate. Simulation results show that the intelligent control strategy combining with optimum path planning method are effective to reduce the structure vibration, to improve the stability and the control accuracy of the polishing robot system.http://dx.doi.org/10.3233/SAV-2010-0603 |
| spellingShingle | Zhong Luo Shuxian Yang Yilan Sun Hongyi Liu Optimized Control for Dynamical Performance of the Polishing Robot in Unstructured Environment Shock and Vibration |
| title | Optimized Control for Dynamical Performance of the Polishing Robot in Unstructured Environment |
| title_full | Optimized Control for Dynamical Performance of the Polishing Robot in Unstructured Environment |
| title_fullStr | Optimized Control for Dynamical Performance of the Polishing Robot in Unstructured Environment |
| title_full_unstemmed | Optimized Control for Dynamical Performance of the Polishing Robot in Unstructured Environment |
| title_short | Optimized Control for Dynamical Performance of the Polishing Robot in Unstructured Environment |
| title_sort | optimized control for dynamical performance of the polishing robot in unstructured environment |
| url | http://dx.doi.org/10.3233/SAV-2010-0603 |
| work_keys_str_mv | AT zhongluo optimizedcontrolfordynamicalperformanceofthepolishingrobotinunstructuredenvironment AT shuxianyang optimizedcontrolfordynamicalperformanceofthepolishingrobotinunstructuredenvironment AT yilansun optimizedcontrolfordynamicalperformanceofthepolishingrobotinunstructuredenvironment AT hongyiliu optimizedcontrolfordynamicalperformanceofthepolishingrobotinunstructuredenvironment |