Study on Control Performance with Consideration of Articulated Manipulators with Pneumatic Cylinders
Eiji Murayama*, Yoshiyuki Yogosawa*, Yukio Kawakami**,
Akiyoshi Horikawa***, Koji Shioda***, and Masashi Ogawa***
*Graduate School of Engineering and Science, Shibaura Institute of Technology, 307 Fukasaku, Minuma-ku, Saitama-city, Saitama 337-8570, Japan
**Department of Machinery and Control Systems, Shibaura Institute of Technology, 307 Fukasaku, Minuma-ku, Saitama-city, Saitama 337-8570, Japan
***Development Department, Development Division, KOGANEI Corporation
We have developed new articulated manipulators with compact pneumatic cylinders and high levels of structural flexibility and safety by adopting new structures. When a pneumatic cylinder is used as an actuator, mechanical friction and dead time are the main problems manifesting in the pneumatic servo system. In this study, we first designed nominal models of articulated manipulators using experimental data on a closedloop system. Thereafter, we analyzed the kinematics of the manipulators and examined the method of generating the trajectory of a manipulator’s fingertip. Finally, we conducted simulation and experiments on the articulated manipulators we developed to understand their positional controllability. Furthermore, we experimentally evaluated the pressure-sensitive sensor embedded in the fingertip, the results of which are also reported in this paper.
Akiyoshi Horikawa, Koji Shioda, and Masashi Ogawa, “Study on Control Performance with Consideration of Articulated Manipulators with Pneumatic Cylinders,” Int. J. Automation Technol., Vol.8, No.2, pp. 159-168, 2014.
-  K. Kuribaynshi, “Criteria for the Evaluation of New Actuators as Energy Converters,” Advanced Robotics, Vol.7, No.4, pp. 289-307, 1993.
-  Q.-H. Yang, Y. Kawakami, and S. Kawai, “Position Control of a Pneumatic Cylinder with Friction Compensation,” J. of the Japan Hydraulics & Pneumatics Society, Vol.28, No.2, pp. 245-251, 1997.
-  T. Noritsugu, T. Wada, and J. Tomono, “Design of Optimal Pneumatic Servosystem Considering Control Valve Delay Time,” Trans. of the Society of Instrument and Control Engineers, Vol.24, No.5, pp. 490-497, 1988.
-  T. Kosaki and M. Sano, “An observer-based friction compensation technique for positioning control of a pneumatic servo system,” J. of System Design and Dynamics, Vol.3, No.1, pp. 37-46, 2009.
-  T. Noritsugu and T. Wada, “Control performance and typical features of pneumatic servo system,” Hydraulics & Pneumatics, Vol.21, No.4, pp. 417-424, 1990.
-  T. Asakura and L. Yunsheng, “A Stabilization Control of 2-Link Pneumatic Manipulator byMeans of Neural Network,” Trans. of the Japan Society of Mechanical Engineers, Series C, Vol.70, No.692, pp. 1093-1099, 2004.
-  N. Tukamoto, Y. Kawakami, and K. Nakano, “An Application of Gain-scheduling Control to a Pneumatic Servo System,” Trans. of the Japan Fluid Power System Society, Vol.33, No.1, pp. 15-20, 2002.
-  Y. Kawakami, et al., “Development of Articulated Manipulators with Pneumatic Cylinders,” Int. J. of Automation Technology, Vol.5, No.4, 2011.
-  E.Murayama, et al., “Development of new articulated manipulators with compact pneumatic cylinders,” Mechatronics and Automation (ICMA), 2012 Int. Conf., pp. 766-771, 2012.
-  R. S. Jamisola, Jr. and E. P. Dadios, “Experimental Identification of Manipulator Dynamics Through the Minimization of its Natural Oscillations,” J. of Advanced Computational Intelligence and Intelligent Informatics, Vol.14, No.1, pp. 39-45, 2010.
-  S. Toritani, et al., “Numerical Solution Using Nonlinear Least-Squares Method for Inverse Kinematics Calculation of Redundant Manipulators,” J. of Robotics and Mechatronics, Vol.24, No.2, pp. 363-371, 2012.
-  Y. Ono and T. Morita, “An Underactuated Manipulation Method Using a Mechanical Gravity Canceller,” J. of Robotics and Mechatronics, Vol.16, No.6, pp. 563-569, 2004.
-  A.M.S.F. Galhano and J. A. Dnreiro Machado, “Kinematic Robustness of Manipulating Systems,” J. of Advanced Computational Intelligence and Intelligent Informatics, Vol.6, No.2, pp. 93-98, 2002.
-  S. Shindo, S. Tomita, and Y. Aiyama, “Realization of Pressfitting by Impact Manipulation Using an Under-Actuated Manipulator,” Int. J. of Automation Technology, Vol.2, No.4, pp. 305-311, 2008.
-  K. Kaneko, K. Komoriya, and K. Tanie, “Manipulator Control Based on a Nominal Dynamic Model in Operational Space,” Trans. of the Japan Society of Mechanical Engineers, C, Vol.60, No.572, pp. 1351-1357, 1994.
-  K. Johanastrom and Canudas-de-Wit, “Revisiting the LuGre friction model,” Control Systems, IEEE, Vol.28, No.6, pp. 101-114, 2008.
-  L. Marton and B. Lantos, “Modeling, Identification, and Compensation of Stick-Slip Friction,” Industrial Electronics, IEEE Trans., Vol.54, No.1, pp. 511-521, 2007.
-  L. Cai, et al., “A smooth robust nonlinear controller for robot manipulators with joint stick-slip friction,” Robotics and Automation, IEEE Int. Conf., Vol.3, pp. 449-454, 1993.
-  G. Song, et al., “Integrated adaptive-robust control of robot manipulators with joint stick-slip friction,” Control Applications, IEEE Int. Conf., pp. 177-182, 1997.
-  G. Song and L. Cai, “A smooth robust control approach to cooperation of multiple robot manipulators,” American Control Conference, Vol.2, pp. 1382-1386, 1995.
-  K. Kiguchi and T. Fukuda, “Robot Joint Friction Compensation using Soft Computing,” Trans. of the Japan Society of Mechanical Engineers Robotics · Mechatronics, Vol.1999, No.Pt.1, pp. 1P1.26.026(1)-1P1.26.026(2), 1999.
This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.