Top > JRM > Simple Trajectory Control Method of Robot Arm Using Flexible P ...

single-rb.php

JRM Vol.27 No.6 pp. 698-705
doi: 10.20965/jrm.2015.p0698
(2015)

Paper:

Views over last 60 days: 4,098

Simple Trajectory Control Method of Robot Arm Using Flexible Pneumatic Cylinders

Mohd Aliff*, Shujiro Dohta**, and Tetsuya Akagi**

*Graduate School of Engineering, Okayama University of Science
1-1 Ridai-cho, Kita-ku, Okayama 700-0005, Japan

**Department of Intelligent Mechanical Engineering, Okayama University of Science
1-1 Ridai-cho, Kita-ku, Okayama 700-0005, Japan

Received:
June 17, 2015
Accepted:
September 2, 2015
Published:
December 20, 2015
Creative Commons License
Keywords:
pneumatic robot arm, pneumatic actuators, trajectory control, PWM control valve, flexible pneumatic cylinder
Abstract
Flexible robot arm
Robots, due to their excellent speed, accuracy and cost-effectiveness in repetitive tasks, now have a tendency to be used in rehabilitation field. A simple trajectory control of robot arm using flexible pneumatic cylinders and embedded controller which can be used as rehabilitation for human wrist is described. The system consists of the flexible robot arm, an accelerometer, an embedded microcomputer, a potentiometer and compact quasi-servo valves. The analytical model for trajectory control is proposed and applied on the flexible pneumatic robot arm. The proposed trajectory control method does not need a linearized model which is commonly used in a robot arm. The flexible structure has the characteristics of high safety such as not to cause harm to user and is suitable for use in therapeutic devices. The trajectory control can help patients recover more quickly by repeating the movements based on the patient's individual condition. Both experiment and simulation show that the trajectory control of robot arm can be realized for several kinds of trajectory by using the proposed control method and the tested robot arm.
Cite this article as:
M. Aliff, S. Dohta, and T. Akagi, “Simple Trajectory Control Method of Robot Arm Using Flexible Pneumatic Cylinders,” J. Robot. Mechatron., Vol.27 No.6, pp. 698-705, 2015.
Data files:
References
  1. [1] M. Ishii, K. Yamamoto, and K. Hyodo, “Stand-alone wearable power assist suit – development and availability –,” J. of Robotics and Mechatronics, Vol.17, No.5, pp. 575-583, 2005.
  2. [2] J. Piquion, A. Nayar, A. Ghazaryan, R. Papanna, W. Klimek, and R. Laroia, “Robot-assisted gynecological surgery in a community setting,” J. of Robotic Surgery, Vol.3, No.2, pp. 61-64, 2009.
  3. [3] Y. Nagata, “Soft actuators – forefront of development –,” NTS Ltd., pp. 291-335, 2004.
  4. [4] T. Noritsugu, M. Takaiwa, and D. Sasaki, “Development of power assist wear using pneumatic rubber artificial muscles,” J. of Robotics and Mechatronics, Vol.21, No.5, pp. 607-613, 2009.
  5. [5] H. Kobayashi, T. Shiban, and Y. Ishida, “Realization of all 7 motions for the upper limb by a muscle suit,” J. of Robotics and Mechatronics, Vol.16, No.5, pp. 504-512, 2004.
  6. [6] N. Hogan and H. I. Krebs, “Interactive robots for neuro-rehabilitation,” Restorative Neurology and Neuroscience, Vol.22, pp. 349-358, 2004.
  7. [7] D. J. Reinkensmeyer, J. P. A. Dewald, and W. Z. Rymer, “Guidance-based quantification of arm impairment following brain injury: A pilot study,” IEEE Trans. on Rehabilitation Engineering, Vol.7, pp. 1-11, 1999.
  8. [8] P. S. Lum, C. G. Burgar, and P. C. Shor, “Evidence for improved muscle activation patterns after retraining of reaching movements with the MIME robotic system in subjects with post-stroke hemiparesis,” IEEE Trans. on Neural Systems and Rehabilitation Engineering, Vol.12, pp. 186-194, 2004.
  9. [9] H. Zheng, R. Davies, H. Zhou, J. Hammerton, S. J. Mawson, P. M. Ware, and N. D. Black, “SMART project: Application of emerging information and communication technology to home-based rehabilitation for stroke patients,” Int. J. Disability and Human Development, Vol.5, pp. 271-276, 2006.
  10. [10] T. Fujikawa, S. Dohta, and T. Akagi, “Development and attitude control of flexible robot arm with simple structure using flexible pneumatic cylinders,” Proc. 4th Asia Int. Symp. on Mechatronics, pp. 136-141, 2010.
  11. [11] T. Akagi and S. Dohta, “Development of a rodless type flexible pneumatic cylinder and its application,” Trans. of JSME, Series C, Vol.73, No.731, pp. 2108-2114, 2007.
  12. [12] F. Zhao, S. Dohta, and T. Akagi, “Development and analysis of small-sized quasi-servo valve for flexible bending actuator,” Trans. of JSME, Series C, Vol.76, No.772, pp. 3665-3671, 2010.
  13. [13] M. Aliff, S. Dohta, and T. Akagi, “Trajectory control of simple-structured flexible mechanism using flexible pneumatic cylinders,” Proc. IEEE Int. Symp. on System Integration, SA1-1.4, pp. 19-24, 2013.
  14. [14] M. Aliff, S. Dohta, and T. Akagi, “Control and analysis of robot arm using flexible pneumatic cylinder,” J. of Mechanical Engineering, Vol.1, No.5, pp. 1-13, 2014.

Creative Commons License  This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

*This site is desgined based on HTML5 and CSS3 for modern browsers, e.g. Chrome, Firefox, Safari, Edge, Opera.

Last updated on Apr. 22, 2024