Robust trajectory tracking control of a 6-DOF robotic crusher based on dynamic compensation

Abstract

A robust controller is developed for the trajectory tracking control of a 6-DOF robotic crusher in task space. Firstly, the dynamic model including the mantle assembly and actuators is derived by Lagrange method according to the virtual work principle. In order to simulate the crushing behavior of cone crusher in the crushing chamber, the trajectory model of the mantle assembly is achieved by ADAMS. Then, a robust controller which contains the dynamic compensation is designed, and the convergence stability of the 6-DOF robotic crusher is strictly proved based on Lyapunov stability theory. Finally, the co-simulation is used to verify that the proposed controller can solve the problem of model uncertainties and external disturbances well. Meanwhile, numerical simulation results of the 6-DOF robotic crusher illustrate the proposed controller is able to effectively reduce the trajectory tracking errors compared with the computed torque controller.

[Retracted] Using Color Difference Compensation Method to Balance and Repair the Image of Art Design

“…e common disadvantage is that the restoration effect is not good when the chromatic aberration pixel-level is reduced. Li et al [8] proposed a fuzzy color image based on multi-scale spectrum separation deviation algorithm, the white balance in the process of image feature extraction cascade classifier design spectrum characteristics of the image recognition, as a pheromone realization of white balance and compensation pixel level fusion, but the disadvantage of the method of computing cost is larger, e real-time performance is not good, and its application value in the fields of real-time video monitoring and image tracking processing is not high [9].…”