Abstract
A robotic drilling end-effector is designed and modeled, and a sliding mode variable structure control architecture based on the reaching law is proposed for its normal adjustment dynamic control. By using a third-order nonlinear integration chain differentiator for obtaining the unmeasurable speed and acceleration signals from the position signals, this sliding mode control scheme is developed with good dynamic quality. The new control law ensures global stability of the entire system and achieves both stabilization and tracking within a desired accuracy. A real-time control experiment platform is established in xPC target environment based on MATLAB Real-Time Workshop (RTW) to verify the proposed control scheme and simulation results. Simulations and experiments performed on the designed robotic end-effector illustrate and clarify that the proposed control scheme is effective.
Highlights
Robots have undoubtedly demonstrated their value in the automotive industry, they have been regarded suitable for aerospace applications such as drilling and fastening due to the obvious low investment costs compared to bespoke industrial solutions [1]
This paper develops a robotic drilling end-effector for industrial robot
By using a third-order nonlinear integration chain differentiator for obtaining the unmeasurable speed and acceleration signals from the position signals with the minimum noise, this sliding mode control scheme is developed with good dynamic quality
Summary
Robots have undoubtedly demonstrated their value in the automotive industry, they have been regarded suitable for aerospace applications such as drilling and fastening due to the obvious low investment costs compared to bespoke industrial solutions [1]. In the aircraft industry, where the drilling of many thousands of holes per aircraft is needed, the usually adopted solution is to stack the parts in a joint position and drill them in a single operation [2,3]. DeVlieg et al [6] and Atkinson et al [7] developed a drilling system for the skin to substructure joint on the F/A-18E/F Super Hornet wing trailing edge flaps (TEF) and for 737 Aileron, which utilizes a mass produced, high capacity industrial robot such as Kuka KR350/2 and KR360-2 as the motion platform for an automated drilling, countersinking, and hole inspection machine
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