TY - GEN
T1 - Research on the synchronous control of the pneumatic parallel robot with two DOF
AU - Wang, Shaoning
AU - Wang, Tao
AU - Wang, Bo
AU - Fan, Wei
N1 - Publisher Copyright:
© 2017, Springer International Publishing AG.
PY - 2017
Y1 - 2017
N2 - 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.
AB - 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.
KW - Gravity compensation
KW - Pneumatic parallel robot
KW - Synchronous coordinated control
KW - Two degree of Freedom
UR - http://www.scopus.com/inward/record.url?scp=85028338431&partnerID=8YFLogxK
U2 - 10.1007/978-3-319-65292-4_33
DO - 10.1007/978-3-319-65292-4_33
M3 - Conference contribution
AN - SCOPUS:85028338431
SN - 9783319652917
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 383
EP - 393
BT - Intelligent Robotics and Applications - 10th International Conference, ICIRA 2017, Proceedings
A2 - Huang, YongAn
A2 - Wu, Hao
A2 - Yin, Zhouping
A2 - Liu, Honghai
PB - Springer Verlag
T2 - 10th International Conference on Intelligent Robotics and Applications, ICIRA 2017
Y2 - 16 August 2017 through 18 August 2017
ER -