Dynamics and Control of a Pneumatically Actuated Robotic Manipulator
نویسنده
چکیده
This paper deals with the dynamics and control of a two degree of freedom robot arm actuated by pneumatic artificial muscles (PAMs). The high power-weight ratio of PAMs justifies their use as actuators in robotics. To achieve trajectory tracking performance, controllers are constructed based on a dynamic model of the robot arm. Due to the high non-linear dynamics of the robotic system, fuzzy control is used for trajectory tracking tasks. The results in simulation are shown to achieve sufficiently good tracking performance.
منابع مشابه
On a Moving Base Robotic Manipulator Dynamics
There are many occasions where the base of a robotic manipulator is attached to a moving platform, such as on a moving ship, terrain or space shuttle. In this paper a dynamic model of a robotic manipulator mounted on a moving base is derived using both Newton-Euler and Lagrange-Euler methods. The presented models are simulated for a Mitsubishi PA10-6CE robotic manipulator characteristics mounte...
متن کاملVoltage Control Strategy for Direct-drive Robots Driven by Permanent Magnet Synchronous Motors
Torque control strategy is a common strategy to control robotic manipulators. However, it becomes complex duo to manipulator dynamics. In addition, position control of Permanent Magnet Synchronous Motors (PMSMs) is a complicated control. Therefore, tracking control of robots driven by PMSMs is a challenging problem. This article presents a novel tracking control of electrically driven robots wh...
متن کاملDynamics and Motion Control of Wheeled Robotic Systems
Mobile robotic systems, which include a mobile platform with one or more manipulators, mounted at specific locations on the mobile base, are of great interest in a number of applications. In this paper, after thorough kinematic studies on the platform and manipulator motions, a systematic methodology will be presented to obtain the dynamic equations for such systems without violating the base n...
متن کاملDynamics and Motion Control of Wheeled Robotic Systems
Mobile robotic systems, which include a mobile platform with one or more manipulators, mounted at specific locations on the mobile base, are of great interest in a number of applications. In this paper, after thorough kinematic studies on the platform and manipulator motions, a systematic methodology will be presented to obtain the dynamic equations for such systems without violating the base n...
متن کاملDevelopment of a Pneumatically-Driven Robotic Forceps with a Flexible Wrist Joint
The present paper describes a pneumatically-driven forceps manipulator for minimally-invasive robot surgery that has a simplified flexible wrist joint for easy fabrication, cost reduction and future miniaturization. The joint structure consists only of a machined spring, and four NiTi super-elastic wires fixed to the joint-end are actuated by pneumatic cylinders in push-pull motions. This mecha...
متن کامل