Abstract:This study aims to resolve the problems of low precision, poor flexibility and unstable operation in the control performance of loading robots with long telescopic booms and heavy loads. Firstly, the kinematics and dynamics of long-arm heavy-duty robots are analyzed, and the dynamics model of a long-arm heavy-duty robot is established using the Lagrange method. A new power-hybrid sliding-mode approach law is proposed, and a hybrid force/position control strategy is used to control long-arm heavy-duty robots. T… Show more
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