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Journal of System Simulation

Abstract

Abstract: For a typical Cartesian coordinate robot controls precision is low, based on a single-axis mathematical model, a contour error model for a typical robot whose axes are orthogonal to each other is established. An improved double-power approach law is used to design a terminal sliding mode controller to improve the robot. The integral compensation terms are added to stably compensate the position accuracy of each axis to improve the overall trajectory tracking accuracy, and the cross-coupling control between the axes is used to eliminate the contour error between the axes. It not only weakens the chattering of traditional sliding mode control, but also improves the response speed of the system and enhances the robustness of the system. The feasibility of the compensated sliding mode cross-coupling controller is verified by simulation experiments. The controller has practical application value in engineering.

First Page

867

Revised Date

2020-05-20

Last Page

874

CLC

TP242;TP273

Recommended Citation

Wang Wei, Chen Zhimei, Wang Zhenyan. Compensation Sliding Cross Coupling Control Research of Cartesian Coordinate Robot[J]. Journal of System Simulation, 2021, 33(4): 867-874.

Corresponding Author

Zhimei Chen,

DOI

10.16182/j.issn1004731x.joss.19-0646

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