{"?xml":{"@version":"1.0"},"edm:RDF":{"@xmlns:dc":"http://purl.org/dc/elements/1.1/","@xmlns:edm":"http://www.europeana.eu/schemas/edm/","@xmlns:wgs84_pos":"http://www.w3.org/2003/01/geo/wgs84_pos","@xmlns:foaf":"http://xmlns.com/foaf/0.1/","@xmlns:rdaGr2":"http://rdvocab.info/ElementsGr2","@xmlns:oai":"http://www.openarchives.org/OAI/2.0/","@xmlns:owl":"http://www.w3.org/2002/07/owl#","@xmlns:rdf":"http://www.w3.org/1999/02/22-rdf-syntax-ns#","@xmlns:ore":"http://www.openarchives.org/ore/terms/","@xmlns:skos":"http://www.w3.org/2004/02/skos/core#","@xmlns:dcterms":"http://purl.org/dc/terms/","edm:WebResource":[{"@rdf:about":"http://www.dlib.si/stream/URN:NBN:SI:DOC-PNW5R98A/4fbd2652-eff2-4bbd-954a-9a2d427432e9/PDF","dcterms:extent":"2766 KB"},{"@rdf:about":"http://www.dlib.si/stream/URN:NBN:SI:DOC-PNW5R98A/ee16153a-46ce-4f3d-ac38-68cd090e0e96/TEXT","dcterms:extent":"0 KB"}],"edm:ProvidedCHO":{"@rdf:about":"URN:NBN:SI:DOC-PNW5R98A","dcterms:issued":"2026","dc:creator":["Cheng, Gang","Guo, Feng","Li, Xin","Sun, Bo"],"dc:format":[{"@xml:lang":"sl","#text":"številka:1/2"},{"@xml:lang":"sl","#text":"letnik:72"},{"@xml:lang":"sl","#text":"str. 3-12"}],"dc:identifier":["ISSN:0039-2480","DOI:10.5545/sv-jme.2025.1393","COBISSID_HOST:272632323","URN:URN:NBN:SI:doc-PNW5R98A"],"dc:language":"en","dc:publisher":[{"@xml:lang":"sl","#text":"= Association of Mechanical Engineers and Technicians of Slovenia etc."},{"@xml:lang":"sl","#text":"Zveza strojnih inženirjev in tehnikov Slovenije etc."}],"dc:source":{"@xml:lang":"sl","#text":"Strojniški vestnik"},"dc:subject":[{"@xml:lang":"sl","#text":"dinamični model"},{"@xml:lang":"en","#text":"disturbance observer"},{"@xml:lang":"sl","#text":"drsni način krmiljenja"},{"@xml:lang":"en","#text":"dynamical model"},{"@xml:lang":"sl","#text":"hibridni polirni roboti"},{"@xml:lang":"en","#text":"hybrid polishing robots"},{"@xml:lang":"sl","#text":"krmiljenje sledenja trajektoriji"},{"@xml:lang":"sl","#text":"opazovalnik motenj"},{"@xml:lang":"en","#text":"sliding mode control"},{"@xml:lang":"en","#text":"trajectory tracking control"}],"dc:title":{"@xml:lang":"sl","#text":"End-trajectory sliding mode control algorithm design of hybrid polishing robot based on nonlinear disturbance observer|"},"dc:description":[{"@xml:lang":"sl","#text":"The five-degrees-of-freedom (5-DOF) hybrid polishing robot is utilized for machining large optical mirrors. Since the existing kinematics control strategy does not meet high-precision control requirements, it is necessary to develop a dynamics controller to improve the operational performance of the robot. To enhance the trajectory control accuracy of the polishing robot’s end-effector, a sliding mode control algorithm based on a nonlinear disturbance observer is proposed. First, the dynamic model, which accounts for joint friction effects, is derived using the Newton-Euler method, and a complete explicit dynamic model is established through parameter substitution. Subsequently, considering the influence of the coupling of inertia parameters of each component in the dynamic model on computational efficiency, the model is simplified while compensating for errors caused by neglected terms via the Whale Optimization Algorithm-Elman (WOA-Elman) algorithm to reconstruct the dynamic model with error compensation terms. Finally, based on an analysis of the reaching law and the design of the nonlinear disturbance observer, the end-effector trajectory sliding mode control algorithm is developed. Simulation and experimental results indicate that the inclusion of an improved reaching term effectively reduces system chattering. Furthermore, the nonlinear disturbance observer is employed to estimate system errors and external disturbances, significantly mitigating error fluctuations during the convergence process and thus validating the robustness and high precision of the trajectory tracking control system for the polishing robot"},{"@xml:lang":"sl","#text":"Petstopenjski (5-DOF) hibridni polirni robot se uporablja za obdelavo velikih optičnih zrcal. Ker obstoječa strategija kinematičnega krmiljenja ne izpolnjuje zahtev po visoki natančnosti, je potrebno razviti dinamični krmilnik za izboljšanje obratovalnih lastnosti robota. Za povečanje natančnosti krmiljenja trajektorije končnega efektorja polirnega robota je predlagan algoritem drsnega načina krmiljenja, ki temelji na nelinearnem opazovalniku motenj. Najprej je z uporabo Newton–Eulerjeve metode izpeljan dinamični model, ki upošteva učinke trenja v sklepih, z nadomeščanjem parametrov pa je vzpostavljen popoln eksplicitni dinamični model. Nato je, ob upoštevanju vpliva sklopljenosti vztrajnostnih parametrov posameznih komponent v dinamičnem modelu na računsko učinkovitost, model poenostavljen, napake zaradi zanemarjenih členov pa so kompenzirane z algoritmom Whale Optimization Algorithm–Elman (WOA-Elman), s katerim je rekonstruiran dinamični model z napakami kompenzacijskimi členi. Na koncu je na osnovi analize zakona doseganja in zasnove nelinearnega opazovalnika motenj razvit algoritem drsnega načina krmiljenja trajektorije končnega efektorja. Rezultati simulacij in eksperimentalnih preizkusov kažejo, da vključitev izboljšanega dosegalnega člena učinkovito zmanjšuje tresenje sistema. Poleg tega nelinearni opazovalnik motenj omogoča ocenjevanje sistemskih napak in zunanjih motenj ter bistveno zmanjša nihanja napak med procesom konvergence, s čimer potrjuje robustnost in visoko natančnost sistema za sledenje trajektoriji polirnega robota"}],"edm:type":"TEXT","dc:type":[{"@xml:lang":"sl","#text":"znanstveno časopisje"},{"@xml:lang":"en","#text":"journals"},{"@rdf:resource":"http://www.wikidata.org/entity/Q361785"}]},"ore:Aggregation":{"@rdf:about":"http://www.dlib.si/?URN=URN:NBN:SI:DOC-PNW5R98A","edm:aggregatedCHO":{"@rdf:resource":"URN:NBN:SI:DOC-PNW5R98A"},"edm:isShownBy":{"@rdf:resource":"http://www.dlib.si/stream/URN:NBN:SI:DOC-PNW5R98A/4fbd2652-eff2-4bbd-954a-9a2d427432e9/PDF"},"edm:rights":{"@rdf:resource":"http://rightsstatements.org/vocab/InC/1.0/"},"edm:provider":"Slovenian National E-content Aggregator","edm:intermediateProvider":{"@xml:lang":"en","#text":"National and University Library of Slovenia"},"edm:dataProvider":{"@xml:lang":"sl","#text":"Univerza v Ljubljani, Fakulteta za strojništvo"},"edm:object":{"@rdf:resource":"http://www.dlib.si/streamdb/URN:NBN:SI:DOC-PNW5R98A/maxi/edm"},"edm:isShownAt":{"@rdf:resource":"http://www.dlib.si/details/URN:NBN:SI:DOC-PNW5R98A"}}}}