Abstract
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.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Craig, J.: Introduction to Robotics. Press of Mechanical Engineering, Beijing (2006)
Wahle, M., Corves, B.: Stiffness analysis of Clavel’s DELTA robot. In: Jeschke, S., Liu, H., Schilberg, D. (eds.) ICIRA 2011. LNCS, vol. 7101, pp. 240–249. Springer, Heidelberg (2011). doi:10.1007/978-3-642-25486-4_25
Lopez, M., Castillo, E., Garcia, G., Bashir, A.: Delta robot: inverse, direct, and intermediate Jacobians. ARCHIVE Proc. Inst. Mech. Eng. Part C J. Mech. Eng. Sci. 220(1), 103–109 (2006)
Sun, D., Shao, X.Y., Feng, G.: A model-free cross-coupled control for position synchronization of multi-axis motions: theory and experiments. IEEE Trans. Control Syst. Technol. 15, 306–314 (2007)
Cheng, H.M., Mitra, A., Chen, C.Y.: Synchronization controller synthesis of multi-axis motion system. In: Fourth International Conference on Innovative Computing, Information and Control, pp. 918–921. IEEE (2009)
Miyoshi, T., Terashima, K., Maki, Y.: Optimum synchronous control for multiple-axis servo systems in terms of time-varying performance index. In: Conference of the IEEE Industrial Electronics Society, IECON 2000, vol. 2, pp. 1080–1086. IEEE (2002)
Yeh, Z.M., Tarng, Y.S., Lin, Y.S.: Cross-coupled fuzzy logic control for multiaxis machine tools. Mechatronics 7(8), 663–675, 677–681 (1997)
Luh, J.Y.S., Zheng, Y.F.: Constrained relations between two coordinated industrial robots for motion control. Int. J. Robot. Res. 6(3), 60–70 (1987)
Zheng, Y.F., Luh, J.Y.S., Jia, P.F.: A real-time distributed computer system for coordinate-motion control of two industrial robots. In: IEEE International Conference on Robotics and Automation, pp. 1236–1241. IEEE (1987)
Zheng, Y.F., Luh, J.Y.S.: Joint torque for control of two coordinated moving robots. In: IEEE International Conference on Robotics and Automation, pp. 1375–1380. IEEE (1986)
Zhou, J.P., Yan, J.P., Chen, W.J.: Research status and ponderation pertinent to dual arm robot. Robot 23(2), 175–177 (2001)
Festo Group: Solutions for Maximized Productivity (2007). http://www.festo.com. Accessed 5 May 2016
Sharma, R., Gaur, P., Mittal, A.P.: Performance analysis of two-degree of freedom fractional order PID controllers for robotic manipulator with payload. ISA Trans. 58, 279–291 (2015)
Mann, G.K.I., Hu, B.G., Gosine, R.G.: Analysis of direct action fuzzy PID controller structures. IEEE Trans. Syst. Man Cybern. 29(3), 371–388 (1999)
Huo, W.: The Robot Dynamics and Control. Higher Education Press, Beijing (2005)
Nilakantan, A., Hayward, V.: The synchronization of multiple manipulators in Kali. Robot. Auton. Syst. 5(4), 345–358 (1989)
Sun, Z.Y., Liu, G.F., Wang, M.: Applied research in cartesian impedance control for 6-UPS space docking mechanism. Appl. Mech. Mater. 540, 363–367 (2014)
Matunaga, S., Onoda, J.: New gravity compensation method by dither for low-g simulation. J. Spacecr. Rocket. 32(2), 364–369 (2015)
Mukherjee, K., Kar, I.N., Bhatt, R.K.P.: Adaptive gravity compensation and region tracking control of an AUV without velocity measurement. Int. J. Model. Identif. Control 25(2), 154 (2016)
Acknowledgments
The research is supported by National Natural Science Foundation of China (Grant No. 51375045) and the State Key Laboratory Program (Grant No. GZKF-201214). The authors thank Dongge Zhang for helpful conversations, and producing several of the figures.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2017 Springer International Publishing AG
About this paper
Cite this paper
Wang, S., Wang, T., Wang, B., Fan, W. (2017). Research on the Synchronous Control of the Pneumatic Parallel Robot with Two DOF. In: Huang, Y., Wu, H., Liu, H., Yin, Z. (eds) Intelligent Robotics and Applications. ICIRA 2017. Lecture Notes in Computer Science(), vol 10463. Springer, Cham. https://doi.org/10.1007/978-3-319-65292-4_33
Download citation
DOI: https://doi.org/10.1007/978-3-319-65292-4_33
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-65291-7
Online ISBN: 978-3-319-65292-4
eBook Packages: Computer ScienceComputer Science (R0)