Development of a Novel Six DOF Soft Parallel Robot

Grace, Devin; Lee-Ortiz, Jessica; Garcia, Martin; Contreras-Esquen, Andrea; Tekes, Ayse; Moghadam, Amir Ali Amiri

doi:10.1109/southeastcon48659.2022.9764135

Cited by 8 publications

(2 citation statements)

References 25 publications

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“…To create a simulation model of a pneumatic spring, it is necessary to determine the stiffness of the spring. This parameter can be derived from the Equations ( 6)- (8).…”

Section: Model Of Pneumatic Bellowsmentioning

confidence: 99%

See 1 more Smart Citation

Pneumatic Bellows Actuated Parallel Platform Control with Adjustable Stiffness Using a Hybrid Feed-Forward and Variable Gain Integral Controller

Varga,

Virgala,

Kelemen

et al. 2023

Applied Sciences

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Redundant cascade manipulators actuated by pneumatic bellows actuators are passively compliant, rugged and dexterous, making them exceptionally well suited for application in agriculture. Unfortunately, the bellows are notoriously difficult to precisely position. This paper presents a novel control algorithm for the control of a parallel platform actuated by pneumatic bellows, which serves as a module of a cascade manipulator. The algorithm combines a feed-forward controller and a variable-gain I-controller. The mathematical model of the module, which serves as the feed-forward controller, was created by applying two simple regression steps on experimentally acquired data. The gain of the I-controller is linearly dependent on the total reference error, thereby addressing the prevalent problem of “a slow response or excessive overshoot”, which, in the described case, the simple combination of a feed-forward and constant-gain I-controller tends to suffer from. The proposed algorithm was experimentally verified and its performance was compared with two controllers: an ANFIS controller and a constant gain PID controller. The proposed controller has outperformed the PID controller in the three calculated criteria: IAE, ISE and ITAE by more than 40%. The controller was also tested under dynamic loading conditions, showing promising results.

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“…To create a simulation model of a pneumatic spring, it is necessary to determine the stiffness of the spring. This parameter can be derived from the Equations ( 6)- (8).…”

Section: Model Of Pneumatic Bellowsmentioning

confidence: 99%

“…The chosen actuator type influences the achievable properties of a module. Electrical linear servo motors as used by [7] within the structure of a module or outside it, as by [8], provide high amounts of force and stiffness. Moreover, they are usually equipped with position sensors that simplify control.…”

Section: Introductionmentioning

confidence: 99%