scholarly journals Kinematic Modelling and Experimental Validation of a Foldable Pneumatic Soft Manipulator

2020 ◽  
Vol 10 (4) ◽  
pp. 1447
Author(s):  
Zhuoqun Liu ◽  
Xiang Zhang ◽  
Hongwei Liu ◽  
Yong Chen ◽  
Yiyong Huang ◽  
...  
Keyword(s):  
Control System ◽  
Prediction Accuracy ◽  
Experimental Validation ◽  
Kinematic Model ◽  
Shape Deformation ◽  
Pneumatic Actuators ◽  
Pneumatic Control ◽  
Directional Movement ◽  
Kinematic Modelling ◽  
Soft Manipulator

A foldable pneumatic soft manipulator, which has the foldability to switch between a contraction state and an expanded state, is proposed in this investigation. The soft manipulator is a structure composed of pneumatic actuators and inflatable straight arms. The directional movement is driven by the pneumatic actuators and the foldability is realized by the inflatable straight arms. Based on this design, the kinematic model of one foldable pneumatic module is developed and presented. The shape deformation and workspace of the pneumatic module is numerically calculated and analyzed. To validate the correctness of the kinematic model, the prototype of one foldable pneumatic module, as well as the relevant pneumatic control system, is designed and developed. The repeatability of the pneumatic module and the model prediction accuracy are tested and validated by the experiment.

Design of a Pressure Observer and its Application to a Low-Cost Pneumatic Control System

2011 ◽  
Vol 5 (4) ◽  
pp. 493-501 ◽  
Author(s):  
Takahiro Kosaki ◽  
◽  
Manabu Sano
Keyword(s):  
Control System ◽  
Control Systems ◽  
Low Cost ◽  
Force Sensors ◽  
Pneumatic Actuators ◽  
Pneumatic Control ◽  
Full State ◽  
Full State Feedback ◽  
High Control ◽  
Pressure Observer

The nonlinear pressure observer this paper presents for pneumatic systems and observer-based approaches for controlling position and stiffness eliminate the need for pressure and force sensors. The observer estimates pressure in the pneumatic actuator chamber, acting instead of a sensor in a pressure-feedbackbased system. Conventional single-loop controllers are inadequate for pneumatic actuators because such actuators have high nonlinearities such as air compressibility and friction. Most advanced controllers providing better performance require full-state feedback, and using sensors to acquire data makes pneumatic control systems less cost-competitive than electric control systems. Combining our proposed pressure observer with other observers enables a position and stiffness control system to be designed for a two degree-of-freedom pneumatic manipulator. Force caused in contact between the manipulator and an external object can be obtained without using force sensors. Experimental results show that our observerbased approach reduces cost, enables high estimation performance, and ensures high control accuracy.

Trajectory Control Using Linear Control System on Mobile Robot

2011 ◽  
Vol 383-390 ◽  
pp. 1619-1622
Author(s):  
Kuei Ying Chang ◽  
Huai Jen Hsu ◽  
Pendry Alexandra ◽  
Min Fan Ricky Lee
Keyword(s):  
Control System ◽  
Mobile Robot ◽  
Experimental Validation ◽  
Kinematic Model ◽  
Initial Position ◽  
Wheeled Mobile Robot ◽  
Linear Control ◽  
Control Law ◽  
Simulation Results ◽  
Robot Platform

A lot of studies have been conducted and published on how to control the wheeled mobile robot to reach the desired target smoothly and many simulation results have been presented. However, very few of the control theorems have been applied on a real mobile robot platform to test the feasibility. This paper focuses on the experimental validation by applying the kinematic model and the control law suggested by Siegwart et al [6] on a nonholonomic wheeled mobile robot. The omni-directional camera mounted on ceiling is used to capture the initial position of robot and monitor the trajectory. Our experiment results proved with the proposed control law, the mobile robot can reach the final goal and stop.

scholarly journals Experimental Validation of a Nested Control System to Balance the Cell Capacitor Voltages in Hybrid MMCs

IEEE Access ◽  
2021 ◽  
Vol 9 ◽  
pp. 21965-21985
Author(s):  
Felipe Donoso ◽  
Roberto Cardenas ◽  
Mauricio Espinoza ◽  
Jon Clare ◽  
Andres Mora ◽  
...  
Keyword(s):  
Control System ◽  
Experimental Validation

scholarly journals Electrical Damping Assessment and Sensitivity Analysis of a Liquefied Natural Gas Plant: Experimental Validation

Energies ◽  
2020 ◽  
Vol 13 (16) ◽  
pp. 4084
Author(s):  
Lorenzo Bongini ◽  
Rosa Anna Mastromauro ◽  
Daniele Sgrò ◽  
Fabrizio Malvaldi
Keyword(s):  
Sensitivity Analysis ◽  
Control System ◽  
Natural Gas ◽  
Experimental Validation ◽  
Power Conversion ◽  
Liquefied Natural Gas ◽  
Fine Tuning ◽  
Simulation Platform ◽  
Electrical Damping ◽  
Conversion Stage

Liquefied Natural Gas (LNG) plants are commonly island-operated weak grids where the interaction of high-power Variable Frequency Drives (VFDs) with the Turbine-Generator (TG) units might cause Sub-Synchronous Torsional Interaction (SSTI) phenomena. SSTI phenomena can lead the LNG plant to instability conditions. Each LNG plant configuration is characterized by a risk level, which is considered high when the electrical damping at the TG Torsional Natural Frequencies (TNFs) is negative. Starting from a real case study, a detailed electromechanical model of an LNG plant is presented. The model is comprehensive of the control system of the power conversion stage and of the TG unit. Sensitivity analysis, performed on control system parameters, allows one to detect the parameters that impact the electrical damping and the stability of the overall LNG plant. A complete simulation platform is developed. Experimental results are carried out on a real LNG plant considering four different configurations. The theoretical model and the simulation platform allow one to estimate the electrical damping and the results are confirmed by the experimental validation. It is demonstrated that fine tuning of the power conversion stage control parameters can reduce the risk related to torsional instability.

Experimental Validation of Nominal Model Characteristics for Pneumatic Muscle Actuator

2013 ◽  
Vol 460 ◽  
pp. 1-12 ◽  
Author(s):  
Alexander Hošovský ◽  
Kamil Židek
Keyword(s):  
Control System ◽  
Nonlinear Differential Equations ◽  
Model Performance ◽  
Weight Ratio ◽  
Open Loop ◽  
Artificial Muscles ◽  
Pneumatic Actuators ◽  
Intelligent Control System ◽  
Pneumatic Artificial Muscles ◽  
The One

Pneumatic artificial muscles belong to a category of nonconventional pneumatic actuators that are distinctive for their high power/weight ratio, simple construction and low price and maintenance costs. As such, pneumatic artificial muscles represent an alternative type of pneumatic actuator that could replace the traditional ones in certain applications. Due to their specific construction, PAM-based systems have nonlinear characteristics which make it more difficult to design a control system with good performance. In the paper, a gray-box model (basically analytical but with certain experimental parts) of the one degree-of-freedom PAM-based actuator is derived. This model interconnects the description of pneumatic and mechanical part of the system through a set of several nonlinear differential equations and its main purpose is the design of intelligent control system in simulation environment. The model is validated in both open-loop and closed-loop mode using the measurements on real plant and the results confirm that model performance is in good agreement with the performance of real actuator.

Study on Novel Automatic Steel Bundling Machine Pneumatic Control System

2012 ◽  
Vol 490-495 ◽  
pp. 594-597
Author(s):  
Cheng Qun Li ◽  
Liang Gao
Keyword(s):  
Control System ◽  
Control Program ◽  
Control Flow ◽  
Pneumatic Control ◽  
The Core ◽  
New Type ◽  
Action Process ◽  
And Control

This paper introduces a new type of automatic steel bundling machine for bundling process, which includes a pneumatic action process, mainly do some researches on the pneumatic control system. The system chooses PLC as the core control component, puts forward the hardware of control system and control flow. Eventually we have been designed the control program.

scholarly journals Kinematic Modelling of FES Induced Sit-to-stand Movement in Paraplegia

2017 ◽  
Vol 7 (6) ◽  
pp. 3060
Author(s):  
Mohammed Ahmed ◽  
M. S. Huq ◽  
B. S. K. K. Ibrahim
Keyword(s):  
Dynamic Model ◽  
Initial Phase ◽  
Degrees Of Freedom ◽  
Kinematic Model ◽  
Future Research ◽  
Upper Limbs ◽  
Body System ◽  
Segmental Dynamics ◽  
Sit To Stand ◽  
Kinematic Modelling

FES induced movements from indication is promising due to encouraging results being obtained by scholars. The kinematic model usually constitute the initial phase towards achieving the segmental dynamics of any rigid body system. It can be used to ascertain that the model is capable of achieving the desired goal. The dynamic model builds on the kinematic model and is usually mathematically cumbersome depending on the number of degrees-of-freedom. This paper presents a kinematic model applicable for human sit-to-stand movement scenario that will be used to obtain the dynamic model the FES induced movement in a later study. The study shows that the 6 DOF conceptualized sit-to-stand movement can be achieved conveniently using 4 DOF. The 4 DOF has an additional joint compared to similar earlier works which makes more it accurate and flexible. It is more accurate in the sense that it accommodates additional joint i.e. the neck joint whose dynamics could be captured. And more flexible in the sense that if future research uncover more contributions by the segments it can be easily incorporated including that of other segments e.g. the trunk, neck and upper limbs.

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