20.500.12556/RUL-178155 Kinematics-based tracking control method for operational robotic arm under multi-environmental constraints The environmental hazards associated with coal mining operations are extremely high, making the use of robotic arms to replace manual labor crucial for improving both the safety and cost-effectiveness of the work process. To address the various environmental constraints, such as spatial limitations, obstacles, and internal and external disturbances, this study proposes a kinematic-based tracking and control method for mining robotic arm. The objective of this numerical study is to mitigate the impact of environmental constraints on the stability of robotic arms, ensuring that they can maintain high precision and stability in complex operating conditions. Simulation results showed that the proposed method enabled the robotic arm to achieve operational thrust peaks exceeding 13,968 N and screw torque peaks greater than 0.06 Nm. The system reached steady state in an average of 0.24 s, with an error reduction of 2.3 %. Compared to other methods, the disturbance tracker reduced the average error by 2 %, and the feedback controller decreased the prediction lag by 5 %. Overall, this method significantly enhances the accuracy and stability of robotic arms in coal mining operations, making it a promising approach for real-world applications. Tveganja, povezana z rudarskimi dejavnostmi v premogovnikih so izjemno visoka, zato je uporaba robotskih rok za nadomeščanje ročnega dela ključnega pomena za izboljšanje varnosti in stroškovne učinkovitosti delovnega procesa. Za obravnavo različnih okoljskih omejitev, kot so prostorske omejitve, ovire ter notranje in zunanje motnje, ta študija predlaga na kinematiki temelječo metodo krmiljenja sledenja in nadzora rudarske robotske roke. Cilj te numerične študije je predlagati metodologijo za ublažitev zunanjih vplivov na stabilnost robotskih rok ter zagotoviti visoko natančnost pri delovanju v zapletenih delovnih pogojih. Rezultati simulacij so pokazali, da predlagana metoda omogoča, da robotska roka doseže operativne vršne potisne sile, večje od 13.968 N, ter vršne vijačne momente, večje od 0,0613 Nm. Sistem je dosegel stacionarno stanje v povprečju v 0,24 s, pri čemer se je napaka zmanjšala za 2,3 %. V primerjavi z drugimi metodami je sledilnik motenj zmanjšal povprečno napako za 2 %, krmilnik s povratno zanko pa zmanjšal zakasnitev napovedi za 5 %. Predlagana metoda bistveno izboljšuje natančnost in stabilnost pozicioniranja robotskih rok pri rudarskih delih v premogovnikih ter predstavlja obetaven pristop za praktično uporabo. coal mining operations robotic arm dynamics multi-environmental constraints tracking control rudarske operacije v premogovnikih robotska roka dinamika kompleksni zunanji vplivi krmiljenje sledenja true false true Angleški jezik Slovenski jezik Članek v reviji 2026-01-20 10:36:46 2026-01-20 10:36:50 2026-01-21 04:18:05 0000-00-00 00:00:00 2025 0 0 13 str. no. 11/12 Vol. 71 2025 0000-00-00 Zaloznikova Objavljeno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 007.52:622 2536-3948 10.5545/sv-jme.2025.1301 265359107 RAZ_Zhou_Li_2025.pdf RAZ_Zhou_Li_2025.pdf 1 D1638264E342FDBE1A9A46D476046086 9bbb54a1f39e91fa8aeab8980ce51e9997216865f004c01c00c2131eb8a87abb c043338d-f5e3-11f0-bf92-0050569b8976 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=225735 https://www.sv-jme.eu/sl/article/kinematics-based-tracking-control-method-for-operational-robotic-arm-under-multi-environmental-constraints/ 1 7ef127cd-f5e3-11f0-bf92-0050569b8976 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=225734 Fakulteta za strojništvo Strojniški vestnik 0 0 0