Study of Food Packaging Production Line Shunt-wound Pick and Place Mechanical Arm Track Sliding-mode Control based on Self-adaption Exponential Reaching Law
Miaochao Chen
School of Applied Mathematics, Chaohu University, Anhui, 238000, P.R. China
Advance Journal of Food Science and Technology 2016 3:220-225
Shunt-wound pick and place robot was used in packing industry and it had mechanical closed-loop construction. This kind of robots was used widely in production lines to transport subjects point-to-point. Sliding-mode control was used in controlling the shunt-wound pick and place robots in this study. Based on the short of reaching law control arithmetic, a kind of self-adapting reaching law sliding-mode control arithmetic was raised. The simulation result indicated: the arithmetic which was raised in this study could overcome the shake in traditional reaching law control arithmetic.
