Constraint-following control for follow-up support systems under model deviation and time delay.

Area of Science:

• Manufacturing Engineering
• Robotics
• Control Systems

Background:

• Machining chatter significantly degrades the quality and precision of thin-walled components.
• Existing follow-up support technologies face challenges with multi-source coupled constraints and uncertainties.
• Effective suppression of chatter is crucial for advanced manufacturing processes.

Purpose of the Study:

• To propose a servo collaborative constraint handling scheme for suppressing machining chatter.
• To achieve coordinated control of a follow-up support system under complex constraints and uncertainties.
• To enhance the stability and robustness of machining processes for thin-walled parts.

Main Methods:

• Introduced a four-point constraint method for simplified pose coordination description.
• Developed a robust controller based on constraint-following theory.
• Analyzed coordinated relationships of dual robot end-effectors under geometric constraints.

Main Results:

• The four-point constraint method simplifies complex geometric constraint descriptions.
• The robust controller effectively parameterizes uncertainties from model deviation and time delay.
• Comparative simulations validated the algorithm's effectiveness and robustness.

Conclusions:

• The proposed servo collaborative constraint handling scheme effectively suppresses machining chatter.
• The control algorithm demonstrates practical stability and strong robustness.
• This technology offers flexible and effective solutions for thin-walled component manufacturing.