Research on the synchronous control of the pneumatic parallel robot with two DOF

Shaoning Wang*, Tao Wang, Bo Wang, Wei Fan

*此作品的通讯作者

科研成果: 书/报告/会议事项章节会议稿件同行评审

摘要

Basing on the structure of the pneumatic parallel robot with two degrees of freedom (DOF), this paper studies the control method of synchronous coordinated motion of two cylinders in the parallel mechanism to ensure the horizontal attitude of the end position of the parallel mechanism and the trajectory planning. Two active cylinders in the parallel mechanism cannot be controlled coordinately because of the compressibility of gas, the variety of the load force of parallel mechanism and the difference of cylinder pressure changing in the motion. The paper uses the fuzzy adaptive PID control algorithm with gravity compensation and the object-oriented coordinated method to control the motion of the active cylinder. Firstly, the pneumatic parallel mechanism in this paper is introduced. Then the paper studies on the control method when cylinders swing, which is the fuzzy adaptive PID control algorithm. In the end, two cylinder coordinated motion control method is researched based on the parallel mechanism. The synchronous motion control method lays a theoretical foundation for the study of pneumatic parallel mechanism and improves the pneumatic parallel robot technology.

源语言英语
主期刊名Intelligent Robotics and Applications - 10th International Conference, ICIRA 2017, Proceedings
编辑YongAn Huang, Hao Wu, Zhouping Yin, Honghai Liu
出版商Springer Verlag
383-393
页数11
ISBN(印刷版)9783319652917
DOI
出版状态已出版 - 2017
活动10th International Conference on Intelligent Robotics and Applications, ICIRA 2017 - Wuhan, 中国
期限: 16 8月 201718 8月 2017

出版系列

姓名Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
10463 LNAI
ISSN(印刷版)0302-9743
ISSN(电子版)1611-3349

会议

会议10th International Conference on Intelligent Robotics and Applications, ICIRA 2017
国家/地区中国
Wuhan
时期16/08/1718/08/17

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