The low stiffness has limited the applications of robot to machining process. In this paper, a fuzzy-sliding mode control scheme is\nproposed to manage the oscillation and chatter appearing in machining operation by adjusting the feed rate.Therobotic machining\ndynamics is first analyzed to identify the parameters with focus on the system stiffness and the behavior during machining process.\nA controller consisting of a fuzzy estimation enginery which can determine the control gain coefficients according to system status\nand a sliding mode controller which is used to guarantee convergence and global stability of the system is then proposed. Simulations\nand experiments results show that, in comparison with open loop and fuzzy-PID control scheme, the fuzzy-sliding mode control\nscheme can reduce the amplitude and period of oscillation.
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