Control technology of high speed food sorting robot based on closed loop and feedforward control
Food and Machinery, ISSN: 1003-5788, Vol: 37, Issue: 7, Page: 87-93
2021
- 7Citations
- 43Usage
- 1Captures
Metric Options: CountsSelecting the 1-year or 3-year option will change the metrics count to percentiles, illustrating how an article or review compares to other articles or reviews within the selected time period in the same journal. Selecting the 1-year option compares the metrics against other articles/reviews that were also published in the same calendar year. Selecting the 3-year option compares the metrics against other articles/reviews that were also published in the same calendar year plus the two years prior.
Example: if you select the 1-year option for an article published in 2019 and a metric category shows 90%, that means that the article or review is performing better than 90% of the other articles/reviews published in that journal in 2019. If you select the 3-year option for the same article published in 2019 and the metric category shows 90%, that means that the article or review is performing better than 90% of the other articles/reviews published in that journal in 2019, 2018 and 2017.
Citation Benchmarking is provided by Scopus and SciVal and is different from the metrics context provided by PlumX Metrics.
Example: if you select the 1-year option for an article published in 2019 and a metric category shows 90%, that means that the article or review is performing better than 90% of the other articles/reviews published in that journal in 2019. If you select the 3-year option for the same article published in 2019 and the metric category shows 90%, that means that the article or review is performing better than 90% of the other articles/reviews published in that journal in 2019, 2018 and 2017.
Citation Benchmarking is provided by Scopus and SciVal and is different from the metrics context provided by PlumX Metrics.
Metrics Details
- Citations7
- Citation Indexes7
- Usage43
- Downloads31
- Abstract Views12
- Captures1
- Readers1
Article Description
Objective: in view of the current situation that the food sorting robot has higher and higher requirements for speed and precision. Methods: Based on the system architecture of high-speed parallel food sorting robot, a control method of high-speed parallel food sorting robot is proposed, which combines the traditional closed-loop control of kinematics with the feedforward control of torque; Based on the original genetic algorithm tuning PID control parameters, the torque feedforward control method is introduced for dynamic control; The dynamic tracking accuracy and joint torque of the system are compared and analyzed, and the superiority of the control method is verified. Results: compared with the traditional PID control, the maximum and average joint position tracking error is reduced by more than 65%, and the maximum trajectory error is reduced by more than 50%. Conclusion: The dynamic disturbance can be suppressed significantly under the control method when the sorting robot works at high speed.
Bibliographic Details
http://www.scopus.com/inward/record.url?partnerID=HzOxMe3b&scp=85201006815&origin=inward; http://dx.doi.org/10.13652/j.issn.1003-5788.2021.07.014; https://www.ifoodmm.cn/journal/vol37/iss7/14; https://www.ifoodmm.cn/cgi/viewcontent.cgi?article=1783&context=journal; https://dx.doi.org/10.13652/j.issn.1003-5788.2021.07.014; https://www.chndoi.org/Resolution/Handler?doi=10.13652/j.issn.1003-5788.2021.07.014
Provide Feedback
Have ideas for a new metric? Would you like to see something else here?Let us know