Dual sliding mode coordinated control of manipulator grasping system with visual assistance  

作　　者：Pengxin Zhang Haisheng Yu Xiangxiang Meng Zhe Li Qing Yang Xunkai Gao 

机构地区：[1]College of Automation,Qingdao University,Qingdao,266071,Shandong,China [2]Shandong Province Key Laboratory of Industrial Control Technology,Qingdao,266071,Shandong,China

出　　处：《Control Theory and Technology》2024年第1期106-121,共16页控制理论与技术（英文版）

基　　金：supported by the National Natural Science Foundation of China(No.62273189);the Natural Science Foundation of Shandong Province(No.ZR2021MF005).

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 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]