Title :
Dynamics and control of injection molding takeout manipulator
Author_Institution :
Sch. of Light Ind., Harbin Univ. of Commerce, Harbin, China
Abstract :
A robot manipulator is expected to play an important role in the production process of plastic factory. A sliding mode controller is present for a 4-DOF injection molding machines take out manipulator. The dynamic model of the manipulator has been built, and the stability of the control system is analyzed with the Lyapunov theory. The simulation experiment about the desired position trajectory tracking is carried out, and the results show that the built controller is effective.
Keywords :
industrial manipulators; injection moulding; manipulator dynamics; plastic products; position control; stability; variable structure systems; 4-DOF injection molding machine; Lyapunov theory; control system stability; injection molding take out manipulator; plastic factory; position trajectory tracking; production process; robot manipulator; sliding mode controller; Injection molding; Manipulator dynamics; Mathematical model; Torque; Trajectory; dynamic model; injection molding; manipulator; sliding mode;
Conference_Titel :
Mechanic Automation and Control Engineering (MACE), 2011 Second International Conference on
Conference_Location :
Hohhot
Print_ISBN :
978-1-4244-9436-1
DOI :
10.1109/MACE.2011.5986906
