| Zhang Laixi (张来喜),Zhao Chenming,Wu Mingliang.[J].高技术通讯(英文),2021,27(4):408~414 |
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| Dynamic control for the feed system of a robotic drilling end-effector |
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| DOI：10.3772/j.issn.1006-6748.2021.04.009 |
| 中文关键词: |
| 英文关键词: robotic drilling, feeding system, pole-placement, model reference adaptive |
| 基金项目: |
| Author Name | Affiliation | | Zhang Laixi (张来喜) | (School of Mechanical and Electronical Engineering, Lanzhou University of Technology, Lanzhou 730050, P.R.China) | | Zhao Chenming | (School of Mechanical and Electronical Engineering, Lanzhou University of Technology, Lanzhou 730050, P.R.China) | | Wu Mingliang | (School of Mechanical and Electronical Engineering, Lanzhou University of Technology, Lanzhou 730050, P.R.China) |
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| 中文摘要: |
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| 英文摘要: |
| Robotic drilling technology for aircraft flexible assembly is challenging and is under active investigation. In this work, a feed system for robotic drilling end-effector is modeled. Two control algorithms with different computational complexity are proposed and compared. Based on reduced-order state observer, a pole placement controller is proposed firstly, and then a model reference adaptive controller is designed. An experiment platform is established in Matlab xPC environment to validate the effect of the two controllers. The experiment results show that the model reference adaptive controller delivers a higher tracking accuracy after the adaptive transient procedure than the pole placement controller does. |
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