FPGA-based Control Design and Implementation of DELTA robots Using Horizontal-Axial Pneumatic Actuators

Kuan Wen; Yong Cing Cheng; Hsin Han Chiang; I. Hsum Li; Lian Wang Lee

doi:10.1016/j.ifacol.2023.10.499

FPGA-based Control Design and Implementation of DELTA robots Using Horizontal-Axial Pneumatic Actuators

Kuan Wen^*, Yong Cing Cheng^*, Hsin Han Chiang, I. Hsum Li, Lian Wang Lee^*

^*Corresponding author for this work

Department of Electrical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

2 Citations (Scopus)

Abstract

This study researched, analyzed, and applied a field-programmable gate array (FPGA) to develop a control system for the DELTA robot with three pneumatic actuation subsystems. To achieve positioning accuracy, a dual-feedback control framework is first applied to control the position of a rodless pneumatic actuator. The inner pressure difference between the actuator and cylinder was used as feedback signals. Then, the derived dynamic model is included in the control strategy to conduct decoupling and system linearization on the nonlinear parallel manipulator using inverse dynamic control. Additionally, to realize the operation of the integrated control system under the FPGA environment, a multilayered neural network framework is designed to learn the inverse dynamic control behaviors. The motion control experiments involving single- and three-axis translational parallel manipulators revealed that the established FPGA-based control system exhibits high precision over the reachable workspace regarding the DELTA robot's three-dimensional trajectory tracking control.

Original language	English
Title of host publication	IFAC-PapersOnLine
Editors	Hideaki Ishii, Yoshio Ebihara, Jun-ichi Imura, Masaki Yamakita
Publisher	Elsevier B.V.
Pages	11633-11638
Number of pages	6
Edition	2
ISBN (Electronic)	9781713872344
DOIs	https://doi.org/10.1016/j.ifacol.2023.10.499
Publication status	Published - 2023 Jul 1
Event	22nd IFAC World Congress - Yokohama, Japan Duration: 2023 Jul 9 → 2023 Jul 14

Publication series

Name	IFAC-PapersOnLine
Number	2
Volume	56
ISSN (Electronic)	2405-8963

Conference

Conference	22nd IFAC World Congress
Country/Territory	Japan
City	Yokohama
Period	2023/07/09 → 2023/07/14

Keywords

DELTA robots
field-programmable gate array (FPGA)
inverse dynamic control
multilayered neural network
pneumatic actuator
trajectory tracking control

ASJC Scopus subject areas

Control and Systems Engineering

Access to Document

10.1016/j.ifacol.2023.10.499

Cite this

Wen, K., Cheng, Y. C., Chiang, H. H., Li, I. H., & Lee, L. W. (2023). FPGA-based Control Design and Implementation of DELTA robots Using Horizontal-Axial Pneumatic Actuators. In H. Ishii, Y. Ebihara, J. Imura, & M. Yamakita (Eds.), IFAC-PapersOnLine (2 ed., pp. 11633-11638). (IFAC-PapersOnLine; Vol. 56, No. 2). Elsevier B.V.. https://doi.org/10.1016/j.ifacol.2023.10.499

FPGA-based Control Design and Implementation of DELTA robots Using Horizontal-Axial Pneumatic Actuators. / Wen, Kuan; Cheng, Yong Cing; Chiang, Hsin Han et al.
IFAC-PapersOnLine. ed. / Hideaki Ishii; Yoshio Ebihara; Jun-ichi Imura; Masaki Yamakita. 2. ed. Elsevier B.V., 2023. p. 11633-11638 (IFAC-PapersOnLine; Vol. 56, No. 2).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Wen, K, Cheng, YC, Chiang, HH, Li, IH & Lee, LW 2023, FPGA-based Control Design and Implementation of DELTA robots Using Horizontal-Axial Pneumatic Actuators. in H Ishii, Y Ebihara, J Imura & M Yamakita (eds), IFAC-PapersOnLine. 2 edn, IFAC-PapersOnLine, no. 2, vol. 56, Elsevier B.V., pp. 11633-11638, 22nd IFAC World Congress, Yokohama, Japan, 2023/07/09. https://doi.org/10.1016/j.ifacol.2023.10.499

@inproceedings{bc91a514ec254f469374698af37c1b62,

title = "FPGA-based Control Design and Implementation of DELTA robots Using Horizontal-Axial Pneumatic Actuators",

abstract = "This study researched, analyzed, and applied a field-programmable gate array (FPGA) to develop a control system for the DELTA robot with three pneumatic actuation subsystems. To achieve positioning accuracy, a dual-feedback control framework is first applied to control the position of a rodless pneumatic actuator. The inner pressure difference between the actuator and cylinder was used as feedback signals. Then, the derived dynamic model is included in the control strategy to conduct decoupling and system linearization on the nonlinear parallel manipulator using inverse dynamic control. Additionally, to realize the operation of the integrated control system under the FPGA environment, a multilayered neural network framework is designed to learn the inverse dynamic control behaviors. The motion control experiments involving single- and three-axis translational parallel manipulators revealed that the established FPGA-based control system exhibits high precision over the reachable workspace regarding the DELTA robot's three-dimensional trajectory tracking control.",

keywords = "DELTA robots, field-programmable gate array (FPGA), inverse dynamic control, multilayered neural network, pneumatic actuator, trajectory tracking control",

author = "Kuan Wen and Cheng, {Yong Cing} and Chiang, {Hsin Han} and Li, {I. Hsum} and Lee, {Lian Wang}",

note = "Publisher Copyright: Copyright {\textcopyright} 2023 The Authors. This is an open access article under the CC BY-NC-ND license (https://creativecommons.org/licenses/by-nc-nd/4.0/); 22nd IFAC World Congress ; Conference date: 09-07-2023 Through 14-07-2023",

year = "2023",

month = jul,

day = "1",

doi = "10.1016/j.ifacol.2023.10.499",

language = "English",

series = "IFAC-PapersOnLine",

publisher = "Elsevier B.V.",

number = "2",

pages = "11633--11638",

editor = "Hideaki Ishii and Yoshio Ebihara and Jun-ichi Imura and Masaki Yamakita",

booktitle = "IFAC-PapersOnLine",

address = "Netherlands",

edition = "2",

}

TY - GEN

T1 - FPGA-based Control Design and Implementation of DELTA robots Using Horizontal-Axial Pneumatic Actuators

AU - Wen, Kuan

AU - Cheng, Yong Cing

AU - Chiang, Hsin Han

AU - Li, I. Hsum

AU - Lee, Lian Wang

PY - 2023/7/1

Y1 - 2023/7/1

N2 - This study researched, analyzed, and applied a field-programmable gate array (FPGA) to develop a control system for the DELTA robot with three pneumatic actuation subsystems. To achieve positioning accuracy, a dual-feedback control framework is first applied to control the position of a rodless pneumatic actuator. The inner pressure difference between the actuator and cylinder was used as feedback signals. Then, the derived dynamic model is included in the control strategy to conduct decoupling and system linearization on the nonlinear parallel manipulator using inverse dynamic control. Additionally, to realize the operation of the integrated control system under the FPGA environment, a multilayered neural network framework is designed to learn the inverse dynamic control behaviors. The motion control experiments involving single- and three-axis translational parallel manipulators revealed that the established FPGA-based control system exhibits high precision over the reachable workspace regarding the DELTA robot's three-dimensional trajectory tracking control.

AB - This study researched, analyzed, and applied a field-programmable gate array (FPGA) to develop a control system for the DELTA robot with three pneumatic actuation subsystems. To achieve positioning accuracy, a dual-feedback control framework is first applied to control the position of a rodless pneumatic actuator. The inner pressure difference between the actuator and cylinder was used as feedback signals. Then, the derived dynamic model is included in the control strategy to conduct decoupling and system linearization on the nonlinear parallel manipulator using inverse dynamic control. Additionally, to realize the operation of the integrated control system under the FPGA environment, a multilayered neural network framework is designed to learn the inverse dynamic control behaviors. The motion control experiments involving single- and three-axis translational parallel manipulators revealed that the established FPGA-based control system exhibits high precision over the reachable workspace regarding the DELTA robot's three-dimensional trajectory tracking control.

KW - DELTA robots

KW - field-programmable gate array (FPGA)

KW - inverse dynamic control

KW - multilayered neural network

KW - pneumatic actuator

KW - trajectory tracking control

UR - http://www.scopus.com/inward/record.url?scp=85184960723&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85184960723&partnerID=8YFLogxK

U2 - 10.1016/j.ifacol.2023.10.499

DO - 10.1016/j.ifacol.2023.10.499

M3 - Conference contribution

AN - SCOPUS:85184960723

T3 - IFAC-PapersOnLine

SP - 11633

EP - 11638

BT - IFAC-PapersOnLine

A2 - Ishii, Hideaki

A2 - Ebihara, Yoshio

A2 - Imura, Jun-ichi

A2 - Yamakita, Masaki

PB - Elsevier B.V.

T2 - 22nd IFAC World Congress

Y2 - 9 July 2023 through 14 July 2023

ER -

FPGA-based Control Design and Implementation of DELTA robots Using Horizontal-Axial Pneumatic Actuators

Abstract

Publication series

Conference

Keywords

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Cite this