摘要
This paper focuses on developing a pneumatic-driven and horizontal-structure linear delta robot (PH-LDR) and increasing its trajectory tracking performance on the three-degrees-of-freedom (3-DOF) space. With the investigation of inverse and forward kinematics, the parallel mechanism of PH-LDR is designed by using three high-power and low-cost rod-less pneumatic actuators (PAs) to track 3-DOF motion, and this has a horizontal structure to enlarge the workspace. Since the PH-LDR features nonlinear coupling among its three axes and is disturbed by the three high-nonlinear rod-less PAs, the tracking control performance is significantly decreased, subject to uncertain nonlinearity and parametric uncertainty. Therefore, a fuzzy-PID controller is used to achieve highly accurate 3-DOF trajectory tracking, and furthermore, this study exploits neural networks (NNs) to pre-compensate the impacts arising from the compressibility of air and temperature change. The control system for the PH-LDR also features an embedded controller that allows real-time control. Experimental demonstration verifies the developed PH-LDR with the proposed controller, and the dynamic tracking accuracy in 3-DOF trajectory can be achieved.
原文 | 英語 |
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文章編號 | 3526 |
期刊 | Applied Sciences (Switzerland) |
卷 | 10 |
發行號 | 10 |
DOIs | |
出版狀態 | 已發佈 - 2020 5月 1 |
對外發佈 | 是 |
ASJC Scopus subject areas
- 材料科學(全部)
- 儀器
- 工程 (全部)
- 製程化學與技術
- 電腦科學應用
- 流體流動和轉移過程