0
Research Papers

Switch-Based Sliding Mode Control for Position-Based Visual Servoing of Robotic Riveting System

[+] Author and Article Information
Yi Min Zhao

Engineering of Information Technology,
University of Arkansas at Little Rock,
2801 South University Avenue,
Little Rock, AR 72204
e-mail: ymzhao@ualr.edu

Yu Lin

Mem. ASME Aerospace Engineering Department,
Ryerson University,
350 Victoria Street,
Toronto, ON M5B 2K3, Canada
e-mail: yu.lin@ryerson.ca

Fengfeng Xi

Professor
Mem. ASME
Aerospace Engineering Department,
Ryerson University,
350 Victoria Street,
Toronto, ON, M5B 2K3, Canada
e-mail: fengxi@ryerson.ca

Shuai Guo

Mechanical Engineering Department,
Shanghai University,
Shanghai, 200444, China
e-mail: guoshuai@shu.edu.cn

Puren Ouyang

Aerospace Engineering Department,
Ryerson University,
350 Victoria Street,
Toronto, ON M5B 2K3, Canada
e-mail: pouyang@ryerson.ca

Manuscript received October 29, 2014; final manuscript received September 8, 2016; published online October 25, 2016. Assoc. Editor: Dragan Djurdjanovic.

J. Manuf. Sci. Eng 139(4), 041010 (Oct 25, 2016) (11 pages) Paper No: MANU-14-1563; doi: 10.1115/1.4034681 History: Received October 29, 2014; Revised September 08, 2016

The robotic riveting system requires a rivet robotic positioning process for rivet-in-hole insertions, which can be divided into two stages: rivet path-following and rivet spot-positioning. For the first stage, varying parameter-linear sliding surfaces are proposed to achieve robust rivet path-following against robot errors and external disturbances of the robotic riveting system. For the second stage, a second-order sliding surface is applied to attain accurate rivet spot-positioning within a finite time required by the riveting process. In order to improve the dynamic performance of the robot riveting system, the motion of robot end-effector between the two adjacent riveting spots has been properly designed. Overall, the proposed control scheme can guarantee not only the stability of the robot control system but also the robust rivet path-following and quick rivet spot-positioning in the presence of the robot errors and external disturbances of the robotic riveting system. The simulation and experimental results demonstrate the effectiveness of the proposed control scheme.

FIGURES IN THIS ARTICLE
<>
Copyright © 2017 by ASME
Your Session has timed out. Please sign back in to continue.

References

Figures

Grahic Jump Location
Fig. 4

Coordinate frame definition

Grahic Jump Location
Fig. 3

Velocity between two adjacent riveting spots

Grahic Jump Location
Fig. 2

Switch-SMD controller

Grahic Jump Location
Fig. 5

Phase diagram in x direction

Grahic Jump Location
Fig. 7

Pose errors in the presence of white noise disturbance: (a) switch-SMC controller and (b) PD controller

Grahic Jump Location
Fig. 6

Experimental system setup

Grahic Jump Location
Fig. 11

Rivet pose error with respect to the hole frame: (a) x motion in the hole frame, (b) y motion in the hole frame, (c) z motion in the hole frame, (d) roll motion in the hole frame, (e) yaw motion in the hole frame, and (f) yaw motion in the hole frame

Grahic Jump Location
Fig. 8

Velocities in the presence of white noise disturbance: (a) switch-SMC controller and (b) PD controller

Grahic Jump Location
Fig. 9

Sliding variables change by switch-SMC controller in the presence of white noise disturbance

Grahic Jump Location
Fig. 10

Trajectories in xh – yh plane of the hole frame: (a) switch-SMC controller and (b) PD controller

Grahic Jump Location
Fig. 12

Procedure of rivet insertion from the initial position to the desired pose: (a) initial pose, (b) rivet approaching the hole, (c) desired pose, and (d) rivet inserted hole

Grahic Jump Location
Fig. 13

Rivet trajectory in the hole frame

Grahic Jump Location
Fig. 14

Second-order sliding surface

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In