High-Accuracy Position Control of a Rotary Pneumatic Actuator

Rouzbeh, Behrad; Bone, Gary M.; Ashby, Graham

doi:10.1109/tmech.2018.2870177

Cited by 14 publications

(23 citation statements)

References 14 publications

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“…tracking performance compared to [20] and [27] and the best results from the literature. In section II, the design's advancements are compared to previous designs, and the implementation details of the prototype are described.…”

Section: Experimental Results Demonstrating Superior Positionmentioning

confidence: 87%

“…For position control of the pneumatic actuator we employed our model-based control law from [27]. It will be briefly summarized in this section.…”

Section: A Model-based Position Controller For the Pneumatic Actuatormentioning

confidence: 99%

“…Many position control algorithms have been investigated for pneumatic actuators, including sliding-mode control (SMC) [2]- [5] and [28], adaptive control [6]- [8], iterative learning control [9], backstepping [10], PID [11], and feedback linearization [27]. However, unlike pneumatic actuators, very limited research has been conducted on HPEAs.…”

Section: Introductionmentioning

confidence: 99%

“…This paper is an extended and improved version of our previous conference paper [20]. It also builds upon our pneumatic actuator controller from [27] and uses our electricactuated robot impact model from [22].…”

Section: Introductionmentioning

confidence: 99%

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Design, Implementation and Control of an Improved Hybrid Pneumatic-Electric Actuator for Robot Arms

et al. 2019

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Actuators used in robot arms need to be powerful, precise, and safe. We present the design, implementation, and control of a novel rotary hybrid pneumatic-electric actuator (HPEA) for use in robot arms, and collaborative robots in particular (also known as ''cobots''). This HPEA is capable of producing torque 3.5 times larger than existing HPEA designs while maintaining low mechanical impedance (due to low values of friction and inertia) and inherent safety. The HPEA prototype has 450 times less inertia and 15 times less static friction in comparison to a conventional robot actuator with similar maximum continuous output torque. The HPEA combines the large slow torque generated by four pneumatic cylinders, connected to the output shaft via rack and pinion gears, with the small fast torque generated by a small DC motor directly connected to the output shaft. The direct connection of the motor avoids the higher cost and lower precision caused by a gearbox or harmonic drive. The control system consists of an outer position control loop and two inner pressure control loops. High precision position tracking control is achieved due to the combination of a model-based pressure controller, model-based position controller, adaptive friction compensator, and offline payload estimator. Experiments were performed with the actuator prototype rotating a link and payload in the vertical plane. Averaged over five tests, a root-mean-square error of 0.024 • and a steady-state error (SSE) of 0.0045 • were achieved for a fast multi-cycloidal trajectory. This SSE is almost ten times smaller than the best value reported for previous HPEAs. An offline payload estimation algorithm is used to improve the control system's robustness. Finally, the superior safety of the HPEA is shown by modeling and simulating a constrained head-robot impact, and comparing the result with similar electric and pneumatic actuators. INDEX TERMS Collaborative robots, hybrid pneumatic-electric actuator, impact modeling, pneumatic actuators, position control, robot control.

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Section: Experimental Results Demonstrating Superior Positionmentioning

confidence: 87%

“…For position control of the pneumatic actuator we employed our model-based control law from [27]. It will be briefly summarized in this section.…”

Section: A Model-based Position Controller For the Pneumatic Actuatormentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Design, Implementation and Control of an Improved Hybrid Pneumatic-Electric Actuator for Robot Arms

et al. 2019

Self Cite

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show abstract

“…Most control algorithms are based on closed loops with different types of regulators such as PID, Fuzzy controllers, the implementation of neural networks -machine learning, etc. [7][8]…”

Section: Rp1 Rp2mentioning

confidence: 99%

Research on the designing of pneumatic positioning units controlled with valves commanded in modulated pulses

2019

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This article presents the hardware structure for a new type of closed loop positioning system using pneumatic energy. In brief, when the mobile subassembly of the system is about to reach a targeted position its speed is controlled by the small-sized pneumatic electro valves, which are commanded in modulated pulses. Here, we developed an electronic control system of which memory has a specially designed algorithm. In addition, the pneumatic engine has a specific construction that integrates a transducer of position as well as a braking system. The proposed mechatronic system is described by good positioning accuracy and low cost.

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Parameterized State Feedback Control Applied to the 1st Degree of Freedom of a Cylindric Pneumatic Robot

Rijo

Perondi

Sobczyk

et al. 2021

Lecture Notes in Mechanical Engineering

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High-Accuracy Position Control of a Rotary Pneumatic Actuator

Cited by 14 publications

References 14 publications

Design, Implementation and Control of an Improved Hybrid Pneumatic-Electric Actuator for Robot Arms

Design, Implementation and Control of an Improved Hybrid Pneumatic-Electric Actuator for Robot Arms

Research on the designing of pneumatic positioning units controlled with valves commanded in modulated pulses

Parameterized State Feedback Control Applied to the 1st Degree of Freedom of a Cylindric Pneumatic Robot

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