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Appl. Sci. 2018, 8(10), 1892; https://doi.org/10.3390/app8101892

A Robotic Drilling End-Effector and Its Sliding Mode Control for the Normal Adjustment

1
School of Mechanical & Electronical Engineering, Lanzhou University of Technology, Lanzhou 730050, China
2
Department of Mechanical Engineering, University of Auckland, Private Bag 92019, Auckland 1142, New Zealand
*
Author to whom correspondence should be addressed.
Received: 18 September 2018 / Revised: 9 October 2018 / Accepted: 9 October 2018 / Published: 11 October 2018
(This article belongs to the Special Issue Advanced Mobile Robotics)
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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. View Full-Text
Keywords: dynamical model; nonlinear differentiator; robotic drilling; sliding mode control; drilling end-effector dynamical model; nonlinear differentiator; robotic drilling; sliding mode control; drilling end-effector
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).
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Zhang, L.; Dhupia, J.S.; Wu, M.; Huang, H. A Robotic Drilling End-Effector and Its Sliding Mode Control for the Normal Adjustment. Appl. Sci. 2018, 8, 1892.

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