Year: 2025
Type: conference-paper
Abstract: This study addresses trajectory accuracy degradation in industrial robots under high-speed motion, caused by nonlinear dynamic disturbances, multi-axis coupling effects, and contour error accumulation. A novel contour control method integrating dynamic singularity avoidance with multimodal compensation is proposed.Leveraging a rigid-body dynamic model of a 6-DOF robot, screw theory is employed to construct a singularity configuration map. A real-time avoidance strategy with Jacobian matrix condition number thresholds is developed to mitigate contour distortion risks during high-speed operation.A hierarchical control architecture is designed: the upper layer implements dynamic multi-axis contour error compensation via modified cross-coupled control, while the lower layer integrates adaptive sliding-mode robust control with RBF neural network disturbance observers to suppress parameter perturbations and external disturbances.[1]
Authors: Yunxia Qi, Kun Han, Jun Zhong
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: gold
OpenAlex ID: W4414307297