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Aiming at the different working conditions of the mixed production process of collaborative robots, three kinds of controllers with the structure of sliding mode controller, backstepping controller and feedback linearisation are designed respectively, and a control structure switching method based on Petri net is proposed. The method is able to achieve better control performance by switching into different control methods to realise the relevant work tasks (tracked motion trajectories) according to the different work tasks (tracked motion trajectories) to be accomplished by the collaborative robots.
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Shang et al. (2024) studied this question.
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