School of Mechanical and Aerospace Engineering, Jilin University, Changchun, 130022, China.
School of Mechanical Engineering, YanShan University, Qinghuangdao, 066004, China.
Sci Rep. 2023 Apr 11;13(1):5855. doi: 10.1038/s41598-023-30952-x.
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.
针对双执行器摆动的液压施工机器人，开发了一种新颖的轨迹跟踪策略。具体而言，建立了双执行器摆动的非线性液压动力学模型，并设计了参数自适应滑模控制策略，以提高轨迹跟踪性能。当抓取和卸载物体时，摆动的转动惯量会发生很大变化，而估计算法的性能通常不足。因此，有必要建立一种算法来识别物体转动惯量的初始值。为此，本文提出了一种基于两自由度机器人重力识别方法与立体视觉信息相结合的新型初始值识别算法，提高了识别算法的性能。通过仿真和实验验证了新型控制方案的效果。
