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*

*此作品的通信作者

研究成果: 書貢獻/報告類型會議論文篇章

摘要

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.

原文英語
主出版物標題IFAC-PapersOnLine
編輯Hideaki Ishii, Yoshio Ebihara, Jun-ichi Imura, Masaki Yamakita
發行者Elsevier B.V.
頁面11633-11638
頁數6
版本2
ISBN(電子)9781713872344
DOIs
出版狀態已發佈 - 2023 7月 1
事件22nd IFAC World Congress - Yokohama, 日本
持續時間: 2023 7月 92023 7月 14

出版系列

名字IFAC-PapersOnLine
號碼2
56
ISSN(電子)2405-8963

會議

會議22nd IFAC World Congress
國家/地區日本
城市Yokohama
期間2023/07/092023/07/14

ASJC Scopus subject areas

  • 控制與系統工程

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