Impedance control for a pneumatic robot-based around pole-placement, joint space controllers

Richardson, Robert C.; Brown, Michael; Bhakta, Bipin; Levesley, Martin

doi:10.1016/j.conengprac.2004.03.011

Cited by 47 publications

(33 citation statements)

References 11 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…This method is valid only for the case when the output membership function is a union result of several fuzzy quantities [11]. 1 1…”

Section: If E Belongs Tomentioning

confidence: 99%

“…Although electrical motors are still the main conveying devices in most manufacturing plants, air motors have attracted more and more attention during the past few decades because they are cheaper, safer, cleaner, smoother and more efficient (by maintaining higher power to weight ratio) [1][2][3][4]. Moreover, at some special locations, such as spark-prohibited environments, mining industry plants, chemical manufactories, vehicles and/or storages with explosive materials, etc., the air motor will be the better, and sometimes the only, feasible device to be used.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Dynamic analysis and fuzzy logic control for the vane-type air motor

2009

View full text Add to dashboard Cite

Air motors are widely used in the automation industry with special requirements, such as park-prohibited environments, mining, chemical manufacturing, and so on. However, during the past only few literatures discussed the dynamics of air motors or their control strategies. The purpose of this paper is to analyze the dynamics of a vane-type air motor, and design a fuzzy logic controller. It is found that the rotational speed of the air motor is strongly affected by the pressure and flow rate of the compressed air. Further, due to the mechanical friction, the overall system is actually nonlinear with dead-zone and has hysteretic behavior. The performance of conventional PI controllers implemented on the air motor usually results in large overshoot, slow response and significant fluctuation errors. To cope with the nonlinear effects of dead-zone and hysteretic behavior, we developed a fuzzy logic controller to improve the performance. The experimental results show that the proposed controller can effectively control the system with a settling time within 0.2 second, the error fluctuation less than 0.5% for high speed operation and 1.5% for low speed operation, and without any overshoot.

show abstract

“…This method is valid only for the case when the output membership function is a union result of several fuzzy quantities [11]. 1 1…”

Section: If E Belongs Tomentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Dynamic analysis and fuzzy logic control for the vane-type air motor

2009

View full text Add to dashboard Cite

show abstract

“…Although electrical motors are still the main devices used in most manufacturing plants, air motors have attracted more and more attention over the past few decades because they are cheaper, safer, cleaner, smoother and more efficient (i.e., able to maintain a higher power to weight ratio) [1][2][3][4]. Moreover, the air motor is the only device that can be used in certain special locations, such as in spark-prohibited environments, in the mining industry, in chemical manufacturing plants, in vehicles, and storage facilities used for explosive materials.…”

Section: Introductionmentioning

confidence: 99%

A robust sliding mode controller design for a ball screw table driven by an air motor

2009

View full text Add to dashboard Cite

Air motors are often applied in the automation industry in areas with special requirements, such as in sparkprohibited environments, the mining industry, chemical manufacturing plants, and similar locations. The purpose of this study is to analyze the behaviors of a ball screw table powered by a vane-type air motor and to design a robust sliding mode controller for the inlet pressure. The rotational speed of the air motor is closely related to the pressure and flow rate of the compressed air. Furthermore, the compressibility of the air and the friction in the mechanism mean that the overall system is nonlinear, with fluctuating input. A robust sliding mode control is developed to overcome the effects of variations in the inlet pressure and air leakage problems. The experimental results validate the robustness of the proposed position control strategy.

show abstract

“…Richardson and et al developed a 3-DOF pneumatic device (Fig.26) for the rehabilitation of upper extremities using PD control and impedance control methodologies (Richardson et al, 2003(Richardson et al, , 2005. Fig.…”

Section: Therapeutic Exercise Robot Systems For Upper Limbsmentioning

confidence: 99%