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Control Design for Pneumatic Manipulation Robot

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ROMANSY 21 - Robot Design, Dynamics and Control (ROMANSY21 2016)

Part of the book series: CISM International Centre for Mechanical Sciences ((CISM,volume 569))

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Abstract

The paper deals with a SCARA-like kinematics robot arm with pneumatic actuators. Dynamic model and control system are realized in the software package Matlab Simulink. Game Go selected as experimental task. The low-level control system is implemented on microcontroller STM32F4Discovery. Machine vision is realized on Android OS using OpenCV. Computer vision system as supporting technology will be demonstrated as important part of the presentation. It is important to note, different algorithms can be implemented as manipulator software and hardware technologies. The created robot passed experimental working off which allowed to draw conclusions about the created software and hardware effectiveness in the implementation of various manipulators control algorithms.

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Author information

Authors and Affiliations

  1. Department of Mechanics and Control of Machines, Blagonravov Institute of Machines Science RAS, Moscow, Russia

    Anton Aliseychik, Viktor Glazunov & Igor Orlov

  2. Robotics Laboratory, Keldysh Institute of Applied Mathematics RAS, Moscow, Russia

    Vladimir Pavlovsky

  3. Research and Training Center “Intelligent Robotics”, Russian State University for the Humanities, Moscow, Russia

    Marina Shishova

Authors
  1. Anton Aliseychik
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  2. Viktor Glazunov
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  3. Igor Orlov
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  4. Vladimir Pavlovsky
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  5. Marina Shishova
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Corresponding author

Correspondence to Igor Orlov .

Editor information

Editors and Affiliations

  1. Dept. of Industrial Engineering, University of Bologna Dept. of Industrial Engineering, Bologna, Italy

    Vincenzo Parenti-Castelli

  2. Inst. für Techn. Num. Mechanik, Universität Stuttgart Inst. für Techn. Num. Mechanik, Stuttgart, Germany

    Werner Schiehlen

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© 2016 CISM International Centre for Mechanical Sciences

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Aliseychik, A., Glazunov, V., Orlov, I., Pavlovsky, V., Shishova, M. (2016). Control Design for Pneumatic Manipulation Robot. In: Parenti-Castelli, V., Schiehlen, W. (eds) ROMANSY 21 - Robot Design, Dynamics and Control. ROMANSY21 2016. CISM International Centre for Mechanical Sciences, vol 569. Springer, Cham. https://doi.org/10.1007/978-3-319-33714-2_18

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  • DOI: https://doi.org/10.1007/978-3-319-33714-2_18

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-33713-5

  • Online ISBN: 978-3-319-33714-2

  • eBook Packages: EngineeringEngineering (R0)

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