Fuzzy Torque Control of the Bionic Flexible Manipulator Actuated by Pneumatic Muscle Actuators

A bionic flexible manipulator driven by pneumatic muscle actuator(PMA)can better reflect the flexibility of the mechanism.Current research on PMA mainly focuses on the modeling and control strategy of the pneumatic manipulator system.Compared with traditional electro-hydraulic actuators,the structure of PMA is simple but possesses strong nonlinearity and flexibility,which leads to the difficulty in improving the control accuracy.In this paper,the configuration design of a bionic flexible manipulator is performed by human physiological map,the kinematic model of the mechanism is established,and the dynamics is analyzed by Lagrange method.A fuzzy torque control algorithm is designed based on the computed torque method,where the fuzzy control theory is applied.The hardware experimental system is established.Through the co-simulation contrast test on MATLAB and ADAMS,it is found that the fuzzy torque control algorithm has better tracking performance and higher tracking accuracy than the computed torque method,and is applied to the entity control test.The experimental results show that the fuzzy torque algorithm can better control the trajectory tracking movement of the bionic flexible manipulator.This research proposes a fuzzy torque control algorithm which can compensate the error more effectively,and possesses the preferred trajectory tracking performance.

MODELING AND CONTROLLING OF PARALLEL MANIPULATOR JOINT DRIVEN BY PNEUMATIC MUSCLES

A parallel manipulator joint driven by three pneumatic muscles and its posture control strategy are presented. Based on geometric constraints and dynamics, a system model is developed through which some influences on dynamic response and open-loop gain are analyzed including the supply pressure, the initial pressure and the volume of pneumatic muscle. A sliding-mode controller with a nonlinear switching function is applied to control posture, which adopts the combination of a main method that separates control of each muscle and an auxiliary method that postures error evaluation of multiple muscles, especially adopting the segmented and intelligent adjustments of sliding-mode parameters to fit different expected postures and initial states. Experimental results show that this control strategy not only amounts to the steady-state error of 0. 1° without overshoot, but also achieves good trajectory tracking.

PARAMETRIC IDENTIFICATION OF PARALLEL MANIPULATOR WITH REDUNDANCY DRIVEN BY PNEUMATIC MUSCLES

A new parameter estimation algorithm is proposed for parametric identification of a parallel manipulator driven by pneumatic muscles with redundancy. Due to the special physical properties of the parallel manipulator studied, the regression model for parametric identification is characterized by multieollinearity, which will result in unreliable and inaccurate parameter estimations with large eovarianee if the conventional parameter estimation algorithm based on single error minimizing criterion is used. To improve the quality of parameter estimation and achieve high precise posture trajectory tracking control of the parallel manipulator, a new parameter estimation algorithm based on composite error minimizing criterion is developed in need of theoretical contractive forces of pneumatic muscles. The experimental results indicate that the proposed algorithm integrated with adaptive robust control could provide reliable parametric identification and greatly enhance the control accuracy in the trajectory tracking control of the parallel manipulator, and that the variation of known theoretical contractive forces of pneumatic muscles has slight influence on the control performance.

Pressure observer based adaptive robust trajectory tracking control of a parallel manipulator driven by pneumatic muscles

This paper presents a pressure observer based adaptive robust controller (POARC) for posture trajectory tracking of a parallel manipulator driven by three pneumatic muscles without pressure sensors. Due to model errors of the static forces and friction forces of pneumatic muscles, simplified average flow rate characteristics of valves, unknown disturbances of entire system, and unmeasured pressures, there exist rather severe parametric uncertainties, nonlinear uncertainties and dynamic uncertainties in modeling of the parallel manipulator. A nonlinear pressure observer is constructed to estimate unknown pressures on the basis of a single-input-single-output (SISO) decoupling model that is simplified from the actual multiple-input-multiple-output (MIMO) coupling model of the parallel manipulator. Then, an adaptive robust controller integrated with the pressure observer is developed to accomplish high precision posture trajectory tracking of the parallel manipulator. The experimental results indicate that the system with the proposed POARC not only achieves good control accuracy and smooth movement but also maintains robustness to disturbances.

Study of Web-based integration of pneumatic manipulator and its vision positioning

Pneumatic driven system is widely used in industrial automation, mainly for relatively simple tasks with open-loop control. Because of the pneumatic system’s compressibility and few stop positions, it was considered hard to control in a precise motion control system. With the help of newly developed pneumatic servo control technology, using servo-pneumatic positioning controller now is just as easy as using electro-servo system. This article discusses Web-based servo-pneumatic manipulator control and object recognition and positioning. The authors built a three-degrees-of-freedom (3 DOF) pneumatic manipulator with a servo-pneumatic closed-loop control system and machine vision system in their lab. Web-based tele-operation was a basic ability in this experimental system. After installing a CCD camera, video capture card, and related software developed by the authors, the robot could recognize the user specified object through the Web page and find its position. The remote user could command the robot to move to the position and to grab the object. The critical issues of Web-based control are to integrate hybrid open-architecture mechatronic system through the Web and develop a software language environment characterized by the script. The authors’ experiment showed that pneumatic devices could serve as accurate position control and be controlled through the Web.

基于VB的S7-200 PLC与上位机的串行通讯及应用

在实现利用PLC作为下位机完成数据采集等功能时,PLC和上位机间的数据通讯是一关键环节,为此需要对PLC与上位机间的串行通讯机理进行研究.详细分析了西门子公司的SIMATIC S7-200系列PLC与上位机间的串行通讯原理和方法,给出了在Visual Basic环境下的PLC与上位机之间通讯程序的设计方法.设计的程序保证了在Visual Basic环境下的PLC与上位机之间的通讯,并应用于某自动卸胎机械手的设计.该方案对小规模系统具有现实意义.

基于S7-300 PLC的机械手工件取放控制系统的设计

主要介绍基于S7-300PLC的机械手工件取放控制系统的构成、机械手在工艺过程中的控制要求、以及如何实现机械手自动操作的功能,利用S7-300PLC的功能模块,设计出逻辑功能块和组织块程序。

Design of an Automatic Loading-and-Unloading Manipulator

In order to achieve workpiece′s automatic loading-and-unloading, this paper designs a manipulator. Use the vacuum chuck mechanism to achieve the function of reclaiming and the cylinder rails to achieve the function of pick-feeding materials. PLC control technology is applied to control system and improve the efficiency and reduce human labor.To ensure the strength,Solidworks simulation performs thestress and strain analysis to verify material strength.

基于PRODAVE与S7-300 PLC的气力输送实验系统

文章根据气力输送实验系统的工艺与功能要求,论述Visual Basic、PRODAVE、S7 300 PLC三者相结合,通过点对点(Point to Point)通信方式构造的气力输送实验监控系统,并着重阐述了PRODAVE与S7-300 PLC在系统中的应用情况。

The design of automatic loading-and-unloading material manipulator for telescopic punch

To reduce the amount of labor in the sheet metal stamping industry, improve the processing efficiency and safety factor and realize the automatic production of stamping, this paper designs a new type of overall plan about automatic loading and unloading material manipulator for telescopic punch which can realize the telescopic movements with two degrees. The mechanical structure of the manipulator includes a lifting device and a telescopic device. Using PLC control program, the control system can automatically achieve continuous beat actions of drawing and stacking for the processing raw materials. According to the mechanical structure, the paper analyzes the working principle and control strategy of each component in the loading-and-unloading material manipulator systems.

一种SMART PLC控制的气动爬杆机器人的设计

在众多应用型机器人中,气压驱动的爬杆机器人以其控制简单、环保节能、价格便宜、经济适用等优点,得到了人们越来越多的关注。设计了一种以西门子SMART PLC为控制器,以AirTAC气动元件为驱动的爬杆机器人,由一套可移动的机体结构、传动机构、传感系统、控制系统组成,可以进行爬杆工作,协助人们进行高危工作。该气动爬杆机器人的控制方法和结构,对仿人体设计的工程型机器人研究具有一定的借鉴和参考价值。

基于S7-200 PLC的气动机械手控制系统设计

介绍了S7-200系列PLC在气动机械手控制中的应用,设计了气动控制回路、PLC控制系统、触摸屏控制界面,详细分析了PLC控制程序。实践表明,该气动机械手系统结构简单、运行平稳、可扩展性强,明显优于传统继电控制系统。

基于S7-300 PLC的柔性送料机械手系统设计

对多自由度柔性送料机械手系统的构成、功能和实际应用进行了研究.为了满足某加工中心多品种大型工件的送料、卸料和装夹的需求,设计了相应的机电传动、液压、电气驱动、PLC自动及触摸屏控制系统,实现了各部分之间的连接与通讯.通过应用,柔性送料机械手系统运行稳定,工作可靠,结构简单,制造成本较低,具有良好的可行性和实用性.

基于S7-300 PLC的一种工业机械手控制系统设计

对一种由三相交流电动机和气缸等组成的工业机械手工作原理进行了分析,将S7-300 PLC应用于其控制系统,完成了系统的硬件设计和软件设计。

Modeling and Adaptive Self-Tuning MVC Control of PAM Manipulator Using Online Observer Optimized with Modified Genetic Algorithm

In this paper, the application of modified genetic algorithms (MGA) in the optimization of the ARX Model-based observer of the Pneumatic Artificial Muscle (PAM) manipulator is investigated. The new MGA algorithm is proposed from the genetic algorithm with important additional strategies, and consequently yields a faster convergence and a more accurate search. Firstly, MGA-based identification method is used to identify the parameters of the nonlinear PAM manipulator described by an ARX model in the presence of white noise and this result will be validated by MGA and compared with the simple genetic algorithm (GA) and LMS (Least mean-squares) method. Secondly, the intrinsic features of the hysteresis as well as other nonlinear disturbances existing intuitively in the PAM system are estimated online by a Modified Recursive Least Square (MRLS) method in identification experiment. Finally, a highly efficient self-tuning control algorithm Minimum Variance Control (MVC) is taken for tracking the joint angle position trajectory of this PAM manipulator. Experiment results are included to demonstrate the excellent performance of the MGA algorithm in the NARX model-based MVC control system of the PAM system. These results can be applied to model, identify and control other highly nonlinear systems as well.

基于S7-200Smart PLC的菌棒码垛机械臂控制系统设计

菌棒码垛机械臂控制系统以S7-200Smart ST30标准型晶体管输出PLC作为核心控制器,通过运动控制向导对控制系统进行组态,以Smart 700 IE V3做上位机方便修改运动参数和对运动状态进行实时监控,简化了操作流程,保证了机械效率。

冗余型S7-400 PLC在180kA铝电解槽自动加料系统中的应用

根据氧化铝浓相输送工艺特点,针对180kA电解槽氧化铝浓相输送S5自动控制系统存在的问题,将S7-400PLC应用到氧化铝浓相输送系统中,重新设计新的控制方案,满足了生产需要。并着重对S7-400PLC在该系统硬件中的冗余设计、软件冗余设计和各种保护措施进行了分析与说明。

S7-200 PLC在碳酸钙粉料气力输送系统中的应用

以4 t/h碳酸钙粉料气力输送系统采用S7-200 PLC为例,简要介绍了该系统的工艺流程和输送程序,阐述了控制要求、硬件配置及程序设计,认为PLC在气力输送系统中的使用实现了信息交换,极大地简化了外部接线,不仅便于系统调试、运行参数的设定及修改,且运行可靠性高。

基于PLC的气动搬运机械手自动控制系统设计

为提高气动搬运机械手在复杂工厂流水线中的运行效率,该文设计了一套基于PLC的气动搬运机械手自动控制系统。在分析通用气动机械手将物品在不同位点之间搬运的运动流程的基础上,设计了自动控制系统的硬件架构。其中包含了可编程逻辑控制器(PLC)、伺服电机、传感器和交互屏等器件,并根据气动搬运机械手的运动流程,设计了相应的软件控制程序及界面。仿真实验结果证明,所提出的气动搬运机械手自动控制系统可以稳定地完成实验预设的功能需求,自动化程度较高。

基于PLC的饺子自动生产装置的控制系统设计

研发高效率自动包饺子装置对满足人民生活需要有重要意义,基于饺子制作工艺分析,提出了包含自动送皮、自动放馅、自动成型等模块的机电一体化系统解决方案,结合饺子成型工艺和装置原理明确了工作流程,利用FluidSim设计了气动控制系统;通过实验验证了自动包饺子装置控制系统的有效性和合理性。实验结果表明,自动包饺子装置控制系统能够有效地完成饺子制作工艺动作,具有一定的实际应用价值和推广意义。