SERVO CONTROL METHOD AND SYSTEM FOR MULTI-JOINT HYDRAULIC MANIPULATOR BASED ON ADAPTIVE SLIDING MODE
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United States of America Patent
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Issued Date -
Aug 15, 2024
app pub date -
Mar 15, 2024
filing date -
Sep 11, 2023
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Abstract
A servo control method for a multi-joint hydraulic manipulator based on adaptive sliding mode is provided. A motion trajectory of an end of the multi-joint hydraulic manipulator in a workspace is generated, and expected angular displacement, angular velocity and angular acceleration of individual joints are calculated. An actual angular displacement and an actual angular velocity of the individual joints under a current position-pose are calculated. Combined with a dynamic model of the manipulator, a driving force of individual joints is calculated. Based on the expected angular displacement, the actual angular displacement and the driving force, a sliding-mode surface is constructed. The adaptive law is updated to perform adaptive sliding-mode control for the manipulator. A system for implementing the servo control method is also provided.
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