Simulation Research on Adaptive Control of a Six-degree-of-freedom Material-testing Machine. (3rd February 2014)

• Record Type: Journal Article
• Authors: Wang, Dan; Fan, Rui; Chen, Wuyi
• Is Part Of: International journal of advanced robotic systems. Volume 11:Number 2(2014)
• Publication Date: 2014-02-03
• Subjects: 6-DOF Material-testing Machine -- Parallel Robot -- Adaptive Control -- Stiffness Estimation; Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.5772/57463
• Languages: English
• ISSNs: 1729-8806

Abstract

This paper presents an adaptive controller equipped with a stiffness estimation method for a novel material-testing machine, in order to alleviate the performance depression caused by the stiffness variance of the tested specimen. The dynamic model of the proposed machine is built using the Kane method, and kinematic model is established with a closed-form solution. The stiffness estimation method is developed based on the recursive least-squares method and the proposed stiffness equivalent matrix. Control performances of the adaptive controller are simulated in detail. The simulation results illustrate that the proposed controller can greatly improve the control performance of the target material-testing machine by online stiffness estimation and adaptive parameter tuning, especially in low-cycle fatigue (LCF) and high-cycle fatigue (HCF) tests.