Study on control performance with consideration of articulated manipulators with pneumatic cylinders

Eiji Murayama, Yoshiyuki Yogosawa, Yukio Kawakami, Akiyoshi Horikawa, Koji Shioda, Masashi Ogawa

Research output: Contribution to journalArticle

1 Citation (Scopus)

Abstract

We have developed new articulated manipulators with compact pneumatic cylinders and high levels of structural flexibility and safety by adopting new structures. When a pneumatic cylinder is used as an actuator, mechanical friction and dead time are the main problems manifesting in the pneumatic servo system. In this study, we first designed nominal models of articulated manipulators using experimental data on a closedloop system. Thereafter, we analyzed the kinematics of the manipulators and examined the method of generating the trajectory of a manipulator's fingertip. Finally, we conducted simulation and experiments on the articulated manipulators we developed to understand their positional controllability. Furthermore, we experimentally evaluated the pressure-sensitive sensor embedded in the fingertip, the results of which are also reported in this paper.

Original languageEnglish
Pages (from-to)159-168
Number of pages10
JournalInternational Journal of Automation Technology
Volume8
Issue number2
DOIs
Publication statusPublished - 2014 Mar

Keywords

  • Articulated manipulator
  • Force control
  • Forward and inverse kinematics
  • Pneumatic cylinder
  • Position control

ASJC Scopus subject areas

  • Mechanical Engineering
  • Industrial and Manufacturing Engineering

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