Pick–and–Place Trajectory Planning and Robust Adaptive Fuzzy Tracking Control for Cable–Based Gangue–Sorting Robots with Model Uncertainties and External Disturbances

Abstract

A suspended cable−based parallel robot (CBPR) composed of four cables and an end−grab is employed in a pick−and−place operation of moving target gangues (MTGs) with different shapes, sizes, and masses. This paper focuses on two special problems of pick−and−place trajectory planning and trajectory tracking control of the cable−based gangue−sorting robot in the operation space. First, the kinematic and dynamic models for the cable−based gangue−sorting robots are presented in the presence of model uncertainties and unknown external disturbances. Second, to improve the sorting accuracy and efficiency of sorting system with cable−based gangue−sorting robot, a four-phase pick−and−place trajectory planning scheme based on S-shaped acceleration/deceleration algorithm and quintic polynomial trajectory planning method is proposed, and moreover, a robust adaptive fuzzy tracking control strategy is presented against inevitable uncertainties and unknown external disturbances for trajectory tracking control of the cable−based gangue−sorting robot, where the stability of a closed-loop control scheme is proved with Lyapunov stability theory. Finally, the performances of pick−and−place trajectory planning scheme and robust adaptive tracking control strategy are evaluated through different numerical simulations within Matlab software. The simulation results show smoothness and continuity of pick−and−place trajectory for the end−grab as well as the effectiveness and efficiency to guarantee a stable and accurate pick−and−place trajectory tracking process even in the presence of various uncertainties and external disturbances. The pick−and−place trajectory generation scheme and robust adaptive tracking control strategy proposed in this paper lay the foundation for accurate sorting of MTGs with the robot.

An Approach for Elliptical Trajectory Planning with Vertical Straight Line Segments of Pick‐and‐Place Robot Operation with Height Clearance

“…Since D, E, F, and G are the functions of φ, it is sure that a and b are also the functions of φ, that is, a � a(φ) and b � b(φ) from equations ( 21) and (23). Hence, A, B, and C are also the functions of φ, that is, A � A(φ), B � B(φ), and C � C(φ) in equation (5).…”

“…Te pick-and-place trajectory of the robot was constructed using NURBS curves. Liu et al [23] proposed four-phase pick-and-place trajectory planning scheme based on the S-shaped acceleration/deceleration algorithm and quintic polynomial trajectory planning method of the cable-based gangue-sorting robot in the operation space.…”

Trajectory Control Using Fuzzy Logic Applied to a Parallel Robot

“…The procedure for generating a trajectory can be approached by several mathematical and analytical or computational and numerical methodologies, but all with the same objective of determining a set of points or descriptive function of a path taking into account the parameterizations [22]. Relevant and recent research on trajectory planning for industrial robots can be observed in [23], [24], [25] and [26].…”

Improved YOLOv7 Network Model for Gangue Selection Robot for Gangue and Foreign Matter Detection in Coal

“…In recent years, the integration of robots in gangue and foreign matter screening has gained significant momentum as a notable development trend. Researchers have shown considerable interest in the visual information-based gangue robot selection method [1][2][3]. The efficacy of a gangue selection robot, which relies on visual information, is contingent upon precise gangue and foreign object recognition, as well as the speed of the manipulator.…”