Dynamic control of a flexible drilling robot end-effector

摘要

End-effector is the key part of a flexible drilling robot in implementing flexibility, modularization, portability and low-cost in high-accuracy drilling machining. An end-effector for a flexible drilling robot has been designed, and an orientation and position regulation algorithm is adopted to ensure the parallelism and perpendicularity in the drilling process. However, the orientation and position regulation unit is a nonlinear kinetics system, the normal pole placement control strategy cannot achieve the desired performance. This paper using sliding mode variable-structure control method based on the reaching condition to design controller, carry on stimulating and make contrast with the traditional pole placement control in order to justify its superiority in the non-linear dynamic system. The designed controller ensures that the nonlinear system is robust stabilization and that the accuracy and efficiency satisfy the dynamic requirements.