Pneumatic Manipulator Research Articles

708 関節剛性の調節による 3 リンク空気圧マニピュレータのコンプライアンス制御

708 関節剛性の調節による 3 リンク空気圧マニピュレータのコンプライアンス制御

ERダンパを用いたゴム人工筋マニピュレータの減衰補償

ERダンパを用いたゴム人工筋マニピュレータの減衰補償

F-1341 関節剛性の調節による2リンク空気圧マニピュレータのコンプライアンス制御(J29-3 知能ロボット)(J29 センサ・アクチュエータシステムとその知能化 : 実環境で活躍するメカトロニクスをめざして)

The case in which robot carries out contact tasks, it is necessary to give the softness at the end point of robot according to the difference between solid of the object and tasks. As a control method that can adjust the softness for external force of end point, the compliance control is proposed. In this paper, by changing the air pressure of cylinder room in right and left, the pneumatic cylinder in which to adjust the compliance of the cylinder is possible apply to an actuator. Using the pneumatic actuator, and by the change of the joint compliance, possibility of adjusting the compliance characteristics of the end point of the 2-link pneumatic manipulator was examined.

F-1130 むだ時間と非線形特佳を考慮した2リンク空気圧駆動マニピュレータのニューラルネットワークによる位置制御(J26-3 ヘルスモニタリング(3))(J26 機械・構造物のヘルスモニタリング)

This study is concerned with the method which realizes the high-precise FTP position control for the 2 link pneumatic manipulator which is suitable to explosion-proof pneumatic robot. In the system which connects the interval of electropneumatic transducer and two pneumatic motor by long air tube, the control characteristics and stability are examined through the simulation experiment, in which the PD control method is applied. But, the effect of time delay and nonlinear characteristics are easy to be received, so that it is difficult that short settling time and good stability are realized in the general PD control method. For such problems, the new control method using with neural network (NN) is proposed.

14-DOF pneumatic dual manipulators based on 2-DOF pneumatic actuator and its experimental evaluation by ball-handling control

Robots utilized in the fields of welfare or agriculture should be light in weight and flexible in structure. A pneumatic actuator is considered as a candidate of actuators realizing such robots, because it is more powerful compared with a motor of the same weight. It is also flexible, clean and unexplosive. In this paper, a new structure of the pneumatic actuator with two-degree-of-freedom is proposed. By combining these proposed pneumatic actuators, multi-degree-of-freedom pneumatic manipulator can be easily constructed, and a fourteen-degree-of-freedom pneumatic dual manipulators was constructed. The performance of the proposed dual manipulators is confirmed through experiments for ball-handling with impedance control. The results show that the flexibility of the pneumatic actuator is appropriate to accomplish the coordinate motion of the right and left arms of the robot.

Construction of 2-DOF Pneumatic Actuator based 14-DOF Pneumatic Dual Manipulators and its Experimental Evaluation by Ball Handling Control.

Robots utilized in the field of welfare or agriculture should be light in weight and flexible in structure. A pneumatic actuator has properties such that it is more powerful compared with a motor of same weight, and that it is flexible, clean and unexplosive. In this paper we propose a new structure of the pneumatic actuator with two-degree-of-freedom. By using proposed pneumatic actuators, we can easily construct multi-degree-of-freedom pneumatic manipulators. Here we constructed a fourteen-degree-of-freedom pneumatic dual manipulator. The performance of the dual manipulators is confirmed through experiments for ball-handling with impedance control. In the experiments several control schemes, including decentralized and decoupling controls, were used. The results show that a flexibility of the pneumatic actuator is appropriate to accomplish the coordinative motion of the right and left arms of the robot.

Design of Robust Servo Control System for Pneumatic Manipulator.

In general, it is said that the pneumatic servo system is unsuitable for complex controls and limited in application. However, from the characteristics of the air compression, it is desirable that the pneumatic robot develops for the flexible manipulation. The main problems which exist in the pneumatic servo system are the existences of both solid friction and a dead time. This paper proposes a design method of robustness servo controller to solve above problems. The design method of robust servo controller for pneumatic manipulator is described as follows. First, the model of the pneumatic manipulator is derived and the influence of the solid friction is examined on the position control. Second, the design specification of control system are drawn up, and then it is shown that the robust servo problem is reduced to the mixed sensitivity problem. Third, the design technique of the controller is proposed based on state feedback H∞ control theory. From the viewpoint of robustness, this technique has the superior advantage, comparing with the other technique estimating plant like the disturbance observer and the adaptive control. Finally, the characteristics of the H∞ servo control system is analyzed, and the effectiveness is verified through the experiment and the simulation.

Friction Compensation for Impedance Control of Pneumatic Manipulator

In this paper, a friction compensation method using a disturbance observer is proposed for an impedance control of pneumatic manipulator. It is assumed that the generated torque by a pneumatic actuator can be estimated based on the pressure signals and the discharge volume. In order to improve the dynamic characteristics of the pneumatic actuator driven by meter out method, we construct the inner torque control system by feeding back the generated torque. In order to reduce the influence of disturbances comprising friction torque and parameter variations of plant, the impedance control system is constructed with a disturbance observer which estimates the disturbances based on the generated torque of pneumatic actuator, the angular velocity and the reaction torque. From some experiments, it is confirmed that the proposed control system is effective to improve the robustness for the friction torque in the impedance control of a pneumatic manipulator.

Position servo control of a PR type pneumatic manipulator

This paper concerns a 2-axis PR type pneumatic manipulator system translating in vertical and rotating in horizontal directions. A simplified linear model is mathematically formulated similar to the pneumatic acturators in dynamic responses in order to devise an appropriate position control scheme. A PD controller preceding the on/off solenoid valve turns out not only economical but also effective in reducing rise time and amplitude of limit cycles, if its control gains are determined on the basis of frequency response. And, additional implementation of symmetric or asymmetric deadband at the PD controller output greatly helps minimize valve opening numbers, positional error, and undesirable direction-dependent property due to the gravitational load. Such a control concept is synthesized through numerical simulations and next applied to the experimental set-up, featuring enhanced positional servo characteristics.

Force Controlled Pneumatic Manipulator

This paper presents a pneumatic XY manipulator capable of moving a tool-plate along a surface whose position in the work plane is not known a priori while applying a desired contact force to this surface. The manipulator is particularly economical, as it is constructed entirely of commercial components. This paper describes construction, control strategy, and tuning methods for the system. Experimental results are satisfactory in terms of system robustness and accuracy, but require improvement with respect to the speed with which the tool-plate can be moved along the contact trajectory.

Robust Force Control of Pneumatic Manipulator

In this paper, a compensation method of disturbance using a disturbance observer is proposed for a force control of a pneumatic robot manipulator. The generated torque by a pneumatic actuator can be estimated based on the pressure signals. The inner torque control system is constructed by feeding back the generated torque to improve the dynamic characteristics of the actuator. In order to reduce the influence of disturbances comprising friction torque, parameter variations of plant and environment and so on, the reaction torque control system is constructed with a disturbance observer which estimates the disturbances based on the reference input to the inner torque control system and the reaction torque sensed with a forced sensor. From some simulations and experiments, it is confirmed that the proposed control system is effective to improve the robustness for the friction torque and the parameter change of object in the force control of a pneumatic robot manupulator.