Mathematical Modeling with Friction of a SCARA Robot Driven by Pneumatic Semi-rotary Actuators

Schluter, Melissa; Perondi, Eduardo André

doi:10.1109/tla.2020.9099684

Cited by 12 publications

(6 citation statements)

References 17 publications

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“…The tested actuator is examined at angular speeds between = 0 − 10 / since the curves will continue to behave linear for speeds higher than Stribeck speed ( ) (Figs. [11][12]. The supply pressure is set to 5 bar in the experiments, because pneumatic working pressure is generally between 4 − 6 in literature.…”

Section: Discussionmentioning

confidence: 99%

“…The friction torqueangular speed map was constructed and the parameters of LuGre friction model were found by curve fitting operations. Then, Schlüter and Perondi [11] tested their model on a SCRARA robot with semi-rotary actuator. On the other studies about rotary pneumatic actuator, the researchers focused mainly on the mathematical model of pneumatic actuators and valves where the detailed information about friction were not available.…”

Section: Introductionmentioning

confidence: 99%

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An Experimental Method for Estimating Combined Friction Torque in Vane Type Pneumatic Semi Rotary Actuators

Dağdelen

Sarigecili

2020

Sakarya University Journal of Science

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In this paper, an experimental method is proposed for estimation of friction torque in vane type pneumatic semi rotary actuators. The friction is modelled in the form of fully combined Stribeck model since this combined friction model provides good solutions for precise control applications. The study aims estimating static friction torque, Coulomb friction torque, Stribeck speed and viscous friction&damping coefficient which is included in fully combined Stribeck model for both counterclockwise and clockwise directions of the rotary actuator since these unknown parameters show differences when direction of motion is altered. For that purpose, an experimental setup is designed which includes pressure sensors for measuring the chamber pressures of actuator, analogue potentiometer for reading angular position as well as speed of vane and Arduino microcontroller card for data acquisition. A proper MATLAB Simulink block diagram is prepared for the simultaneous estimation of processed data from experimental data. Nonlinear curve fitting operation is applied and the unknown friction parameters are estimated on the fitted curve easily.

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Section: Discussionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

An Experimental Method for Estimating Combined Friction Torque in Vane Type Pneumatic Semi Rotary Actuators

Dağdelen

Sarigecili

2020

Sakarya University Journal of Science

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“…Pneumatic rotary actuators are extensively employed in robotics, medicine, polishing, and other relevant fields [1][2][3] owing to their advantages, such as low cost, cleanliness, and uncomplicated design [4,5]. The precise control of torque in pneumatic rotary actuators is a vital concern in pneumatic servo systems [6].…”

Section: Introductionmentioning

confidence: 99%

Active Disturbance-Rejection Controller (ADRC)-Based Torque Control for a Pneumatic Rotary Actuator with Positional Interference

Wei,

Wu,

Zhou

et al. 2024

Actuators

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The compressibility of air, the uncertainty of dynamic models, and the existence of friction make pneumatic servo systems exhibit strong nonlinearity. Furthermore, the confluence of pneumatic-system nonlinearity and interference from the position system induces oscillations within the system, thereby posing a formidable challenge for achieving precise torque control. This study ensures precise torque control in a pneumatic actuator amid interference from the position system and proposes a novel active disturbance-rejection controller integrated with a Kalman filter. Firstly, in response to the oscillation stemming from the inherent nonlinearity of the pneumatic system and interference from the position system, this paper designs an active disturbance-rejection controller (ADRC) with robust anti-interference capabilities aimed at mitigating system oscillations. Secondly, to address the issue of sensor noise interfering with the ADRC and causing system oscillation, a first-order Kalman filter is designed to provide real-time and more accurate state estimation, effectively reducing oscillations and improving the robustness of the system. Finally, using the Lyapunov stability theory, the effectiveness of both the nonlinear extended observer and the convergence of the nonlinear error-state controller in the ADRC is proven. Experimental results indicate that the proposed controller reduces system oscillations and improves control accuracy.

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“…By using the mathematical equations of the models enabled us to gain an in-depth understanding of the characteristics and dynamics of the robot manipulator, which in turn enabled the design of effective and optimized control systems [1], [2] . The dynamic modeling of a robot manipulator can be performed using three approaches: manual modeling [3], [4], computer-based modeling [5], [6], and hybrid modeling [7]. Robot manipulator dynamics modeling using manual or analytical approaches, such as the Lagrange-Euler [8] and Newton-Euler formulation [9], require a high level of knowledge of dynamics and physics laws.…”

Section: Introductionmentioning

confidence: 99%

Enhanced Equation Discovery of 3-DoF Robotic Manipulator Dynamics Using LASSO Model Selection Criteria With Variable Segregation Algorithm

Istiqphara,

Wahyunggoro,

Cahyadi

2024

IEEE Access

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The challenge in controlling a manipulator robot is to model the system to obtain an efficient control system design. One approach that can be used to model the dynamics of a manipulator robot is data-driven modeling. However, in its implementation, data-driven modeling is highly sensitive to sensor noise, which significantly affects the accuracy of the system identification. In addition, the existing approach yields only a generalized form of the differential equation for each joint, which has not been divided into inertial, Coriolis, and gravitational variables that can be used for other purposes. In this study, a LASSO model selection criteria with a variable segregation algorithm (LMSCVS) is proposed to derive the dynamic equation of a 3-DoF manipulator robot, segregating the generalized form variables into Coriolis and centrifugal, inertia, and gravitational variables. Additionally, a Dynamic Expression Nonlinearization(DEx-N) algorithm is introduced to generate nonlinear candidates more efficiently to express the dynamics of the robot manipulator. The experimental results on the ROB3 hardware demonstrate that the proposed method successfully discovers mathematical equations, resulting in higher accuracy and sparsity compared to the previous method. The processing time of the proposed method is also significantly faster. Based on these results, the proposed method has a better performance in identifying real systems that usually have noise in the sensor data and in discovering the equation of robot manipulator dynamics for broader purposes.

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Mathematical Modeling with Friction of a SCARA Robot Driven by Pneumatic Semi-rotary Actuators

Cited by 12 publications

References 17 publications

An Experimental Method for Estimating Combined Friction Torque in Vane Type Pneumatic Semi Rotary Actuators

An Experimental Method for Estimating Combined Friction Torque in Vane Type Pneumatic Semi Rotary Actuators

Active Disturbance-Rejection Controller (ADRC)-Based Torque Control for a Pneumatic Rotary Actuator with Positional Interference

Enhanced Equation Discovery of 3-DoF Robotic Manipulator Dynamics Using LASSO Model Selection Criteria With Variable Segregation Algorithm

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