In order to overcome the trajectory tracking distortion caused by the friction mutations of the sandblasting and rust removal parallel robot based on the Stewart parallel mechanism, a fuzzy adaptive sliding mode control method that compensates for the friction mutations is designed. Firstly, the kinematics of the mechanism is analyzed by analytic method and the dynamic model of the Stewart parallel mechanism is established based on Lagrange method. Then, the robust adaptive term of the sliding mode is designed based on the sliding mode variable to estimate the uncertain term in real time, replacing the sliding Switching items of mode control to compensate for the influence of uncertain factors such as unmodeled dynamics, external disturbances and time-varying parameters, and to effectively suppress chattering of sliding mode control; Next, by designing fuzzy control based on sliding mode variable and sliding mode variable derivative, the dynamic adjustment of the sliding mode robust adaptive term gain is realized to compensate for the interference of the frictional force mutation, thereby eliminating the trajectory tracking distortion problem of the Stewart mechanism joint commutation. Finally, using MATLAB control method for numerical simulation and verify the effectiveness of the proposed fuzzy adaptive sliding mode control method to compensate for friction mutations.
Fuzzy Adaptive Sliding Mode Control of Sandblasting and Rust Removal Parallel Robot