Abstract
Robotic drilling technology for aircraft flexible assembly has challenges and is under active investigation. In this work, a robotic drilling end-effector is designed and its normal adjustment system is dynamically modeled for comparison of advanced control strategies in terms of position tracking precision and dynamic quality. Three control algorithms with different computational complexity are proposed and compared: Based on computation torque control method first, a proportional and differential controller (PDC) and a sliding mode controller (SMC) are proposed respectively, and then is a model reference adaptive controller (MRAC). Simulation results show that the SMC has higher precision and a more excellent tracking property than the PDC of which the proportional and derivative gains have been optimally tuned using a modified Ziegler-Nichols’ (Z-N) tuning methods. An experiment platform is established in MatLab xPC environment to validate the effect of the SMC and MRAC. The experiment results show that the MRAC delivers a better robust performance that allows adaptiveness to the nonlinear factors such as disturbance and parameter variations than the SMC.
Highlights
Aircraft structure is generally fastened by solid rivets, which requires a large number of drilling holes on a flexible surface
DeVlieg et al [3] brought up a new concept of combining an off-the-shelf industrial robot and a multifunction end-effector for automated drilling, countersinking, and holes inspection, and built a drilling system named ONCE for the skin to substructure join on the F/A-18E/F Super Hornet wing trailing edge flaps
A short phase lag was present in trajectory tracking of the sliding mode controller (SMC), whilst the trajectory yielded by the model reference adaptive controller (MRAC) coincided with the desired trajectory and had much less error after the initial transient than did the SMC
Summary
Aircraft structure is generally fastened by solid rivets, which requires a large number of drilling holes on a flexible surface. DeVlieg et al [3] brought up a new concept of combining an off-the-shelf industrial robot and a multifunction end-effector for automated drilling, countersinking, and holes inspection, and built a drilling system named ONCE for the skin to substructure join on the F/A-18E/F Super Hornet wing trailing edge flaps. In order to tackle the dynamic disturbance effects and non-linearizing problems such as friction and system parameter variations, carrying out the research of the dynamic models and control of normal adjustment of the robotic drilling end-effector is of great worth. A robotic drilling end-effector is first developed, the dynamics characteristics of the auto-normalization are analyzed and three control strategies is further proposed and compared.
Sign-in/Register to view highlights & summary Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
