一种基于复合力-位置模糊控制的机器人浮动研磨和除方法
Tao Li1, Qun Sun1, Chong Wang1
1School of Mechanical and Automotive Engineering, Liaocheng Univesity, Liaocheng 252000, China.
Sensors (Basel, Switzerland)
|April 12, 2025
概括
本研究介绍了一种自适应机器人研磨系统,用于大型设备的高效除. 新的模糊控制方法实现了99.73%的除率,具有高精度和环境效益.
科学领域:
- 机器人和自动化 机器人和自动化
- 材料科学 材料科学 材料科学
- 控制系统工程 控制系统工程
背景情况:
- 从火车和船只等大型结构中去除是具有挑战性的.
- 现有的方法 (化学,火焰,激光,喷砂,喷水) 有显著的缺点,包括高能耗,污染,成本和复杂性.
- 目前的机器人系统缺乏适应能力,无法在复杂的表面上进行强大的生清除.
研究的目的:
- 开发一个可适应和强大的自动化系统,以有效地去除大型设备的生.
- 克服传统和现有的机器人除技术的局限性.
- 为了提高精度,效率和环境友好性,自动化除.
主要方法:
- 提出了使用复合力位置模糊控制的浮动研磨执行器方案.
- 实施简化路径点规划,消除了对工件几何学的预测的需要.
- 集成的力和激光位移传感器用于实时偏差补偿和适应复杂表面.
- 采用模糊衍生引领的PID算法,用于自适应性研磨力控制和增强精度.
主要成果:
- 该系统在没有先前的几何数据的情况下实现了连续研磨和除.
- 与传统的PID控制相比,模糊衍生引领的PID控制显著减少了研磨力和平均误差波动.
- 在40mm/s的进步速度下,实现了99.73%的异常生去除率.
- 在复杂的表面上表现出卓越的控制性能和适应性.
结论:
- 拟议的浮式研磨执行器具有模糊控制,提供了一种高效,环保,高精度的自动化解决方案,用于除.
- 这种方法显著改进了现有的大型设备维护方法.
- 该系统的适应性和强大的控制可确保即使在具有挑战性的表面上,也能有效地去除生.
相关概念视频
01:05Static and Kinetic Frictional Force
15.0K
One of the simpler characteristics of sliding friction is that it is parallel to the contact surfaces between systems, and is always in a direction that opposes the motion or attempted motion of the systems relative to each other. If two systems are in contact and moving relative to one another, then the friction between them is called kinetic friction. For example, kinetic friction slows a hockey puck sliding on ice.
However, if two systems are in contact and are stationary relative to one...
However, if two systems are in contact and are stationary relative to one...
15.0K
01:30Three-Dimensional Force System:Problem Solving
580
A three-dimensional force system refers to a scenario in which three forces act simultaneously in three different directions. This type of problem is commonly encountered in physics and engineering, where it is necessary to calculate the resultant force on the system, which can then be used to predict or analyze the behavior of the object or structure under consideration.
To solve a three-dimensional force system, first resolve each force into its respective scalar components. Do this using...
To solve a three-dimensional force system, first resolve each force into its respective scalar components. Do this using...
580
01:17Frictional Forces on Screws
1.1K
Screws are characterized by a helical ridge known as a thread wrapped around a cylindrical shaft. They are commonly used as fasteners to hold objects together or to transmit power and motion in machines. One type of screw that is particularly useful for transmitting power is the square-threaded screw.
A jack with a square-threaded screw is a mechanical device used to lift heavy loads by applying a force at its handle. When the force is applied, the screw turns, raising the load. The screw can...
A jack with a square-threaded screw is a mechanical device used to lift heavy loads by applying a force at its handle. When the force is applied, the screw turns, raising the load. The screw can...
1.1K
01:29Two-Dimensional Force System: Problem Solving
502
Solving problems related to two-dimensional force systems is an essential aspect of mechanics and engineering. By applying the principles of vector analysis and force equilibrium, one can determine the effect of multiple forces acting on an object in a two-dimensional space.
The first step to solving a two-dimensional force system problem is to draw a free-body diagram of the object under consideration. This diagram helps identify all the external forces acting on the object, including their...
The first step to solving a two-dimensional force system problem is to draw a free-body diagram of the object under consideration. This diagram helps identify all the external forces acting on the object, including their...
502
01:29Relative Motion Analysis using Rotating Axes-Problem Solving
378
Consider a crane whose telescopic boom rotates with an angular velocity of 0.04 rad/s and angular acceleration of 0.02 rad/s2. Along with the rotation, the boom also extends linearly with a uniform speed of 5 m/s. The extension of the boom is measured at point D, which is measured with respect to the fixed point C on the other end of the boom. For the given instant, the distance between points C and D is 60 meters.
Here, in order to determine the magnitude of velocity and acceleration for point...
Here, in order to determine the magnitude of velocity and acceleration for point...
378
01:17Rolling Resistance: Problem Solving
268
Rolling resistance, also known as rolling friction, is the force that resists the motion of a rolling object, such as a wheel, tire, or ball, when it moves over a surface. It is caused by the deformation of the object and the surface in contact with each other, as well as other factors like internal friction, hysteresis, and energy losses within the materials. Rolling resistance opposes the object's motion, requiring additional energy to overcome it and maintain movement. In practical...
268