Simulation of Control of a Scara Robot Actuated by Pneumatic Artificial Muscles Using RNAPM

Abstract

This paper describes the simulation of movement control of a one-degree-of-freedom articulated robot arm SCARA actuated by a pair of McKibben pneumatic artificial muscles. The pneumatic artificial muscle is the actuator and emulates the behavior of biological muscles; due to its nonlinear behavior, there is also a need to develop control systems for robot arms using this type of actuator. Research begins with the transfer function that represents, in mathematical language, the movement of the robot arm's joints; this allows using a PID controller on the transfer function and generating data to train the Multilayer Perceptron Artificial Neural Network (RNAPM). So far, the PID control system has been able to control the movement of robot arms but, based on experimental tests, the RNAPM has proved to outperform the PID control's response time by up to 2.95 seconds, minimizing the angular error by 1.3° and avoiding the oscillation problem due to its continuous, constant behavior.

Development of a new system for reducing the temperature increase during the positioning of spoilers using pneumatic artificial muscle (PAM)

“…The PAM used in this study is a flexible actuator whose working length decreases when pressurized and comprises two layers of spiraled synthetic fibers woven at a specific angle, which are wrapped around a rubber tube ( Li et al ., 2015). It is a biomimetic device that mimics the behavior of skeletal muscle ( Escobar et al ., 2014). It behaves similarly to human muscle and has a customizable tip that can be fitted with connection elements or used as an air inlet/outlet (Figure 4).…”

“…Taniguchi (2013) has developed a new artificial muscle actuator and released its design, principles of operation, construction guide and the results of the experiments conducted on the new actuator. Escobar et al (2014) created a control simulation where a robotic arm was moved with a degree of freedom using two PAMs. Jobbágy et al (2014) designed robotic arms and used PAMs to help ease and shorten the physical rehabilitation of their patients.…”

Comparison of Different Neural Networks Models for Identification of Manipulator Arm Driven by Fluidic Muscles

“…Automation is currently a highly watched process. By implementing automation into the production process, it is possible to increase work productivity and quality, reduce production costs, or protect employees from working in a hazardous environment [1], [2]. One of the manufacturing activities that can be automated is manipulation.…”