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http://dx.doi.org/10.5302/J.ICROS.2005.11.2.103

Accurrate Position Control of Pneumatic Manipulator Using On/Off Valves  

Pyo Sung Man (울산대학교 기계자동화공학부)
Ahn Kyoung Kwan (울산대학교 기계자동화공학부)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.11, no.2, 2005 , pp. 103-108 More about this Journal
Abstract
Loading/Unloading task in the real industry is performed by crane, but most of the loading/unloading task with the weight of 5kg∼30kg is done by human workers and this kind of work causes industrial disaster of workers. Therefore it is necessary to develop low cost loading/unloading manipulator system to prevent this kind of industrial accidents. This paper is concerned with the design and fabrication of 2 axis pneumatic manipulators using on/off solenoid valves and accurate position control without respect to the external load and low damping in the pneumatic rotary actuator. To overcome the change of external load, switching of control parameter using LVQNN (Learning Vector Quantization Neural Network) is newly applied, which estimates the external loads in the pneumatic cylinder. As an underlying controller, a state feedback controller using position, velocity and acceleration is applied to the switching control system. The effectiveness of the proposed control algorithms are demonstrated through experiments of pneumatic cylinder with various loads.
Keywords
pneumatic; On/Off solenoid valve; LVQNN; neural network; manipulator; state feedback controller;
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