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16 June 2023 Research on cable peeling control method based on Kalman filter and multiple linear regression
Quan Li, Xuhong Wang, Shaosheng Fan
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Proceedings Volume 12639, Third International Conference on Mechanical Design and Simulation (MDS 2023); 1263928 (2023) https://doi.org/10.1117/12.2682142
Event: Third International Conference on Mechanical Design and Simulation (MDS 2023), 2023, Xi'an, China
Abstract
Stripping is the preparation work before the cable lap lead operation, the traditional manual work method is low in efficiency and high in danger. Therefore, this paper designs a lapping and stripping robot, on the basis of which the focus is on the control method of cable stripping. On the one hand, by analysing the peeling mechanism, a mechanical model of peeling is established; on the other hand, Kalman filter and multiple linear regression are used to quantify the state of the motor output torque and achieve precise control of peeling without damaging the aluminium core. Experimental tests show that the proposed method can be applied to a robot instead of manual operation, which can effectively reduce the rate of peeling wire loss and improve the operational efficiency and robot robustness.
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Quan Li, Xuhong Wang, and Shaosheng Fan "Research on cable peeling control method based on Kalman filter and multiple linear regression", Proc. SPIE 12639, Third International Conference on Mechanical Design and Simulation (MDS 2023), 1263928 (16 June 2023); https://doi.org/10.1117/12.2682142
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KEYWORDS
Aluminum
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