Robot manipulators trends and development 2010 Part 9 pot

RobotManipulators,TrendsandDevelopment312 a) b) c) Fig. 15. Experimental values of absolute follow-up error signal of position a), velocity b) and acceleration c) 6. Prototype of electro-pneumatic parallel 3-UPRR tripod manipulator In the Division of Mechatronics (Kielce University of Technology, Poland) a prototype of pneumatic translational parallel manipulator (PTPM) of tripod kinematic structure was constructed (Dindorf et al., 2005; Laski & Dindorf, 2007). The prototype of tripod parallel manipulator with Festo servopneumatic precision positioning systems is presented in Fig. 1a. The manipulator possesses a supporting structure, fixed base, moving platform and three pneumatic linear motions (servopneumatic axis). Each servopneumatic axis consists of: rodless pneumatic cylinder type DGPIL-25-600 with integral feedback transducer (built-in 'Temposonic' encoders for continual positioning feedback to the master control unit), 5/3 servopneumatic valve (proportional directional control valve) type MPYE-5-1/8-HF-010B, axis interface type SPC-AIF, positioning axis sub-controller type SPC-200 (the use of a sub- controller card permits control of up to four axes) and Ethernet/Can Bus interface. According to the systematics the prototype of 3-DoF pneumatic translational parallel manipulators is of 3-UPRR kinematic structure (Fig. 1b). Each of the three identical closed- loop chains of the manipulator consists of serial kinematic chains: universal cardan joint (U), prismatic joint (P), formed by a rodless pneumatic cylinder and two revolute joints (2R) formed after universal cardan had been parted. The slide of rodless cylinder was connected with fixed base by means of articulated joints of U cardan and the end cap of cylinder were connected by revolute joint R to the moving platform. The second revolute joint R was placed in tool center point (TCP) of the moving platform. The presented construction of the parallel manipulator ensures parallel position of the moving platform to the fixed base for optional position of pneumatic cylinder. The kinematic structure of a new prototype of 3- UPRR pneumatic parallel manipulator is an interesting solution expanding the architecture of parallel manipulators, type 3-DoF TPM. a) b) Fig. 16. Pneumatic translational parallel manipulator: a) prototype, b) kinematics scheme 7. Model research of electro-pneumatic parallel 3-UPRR tripod manipulator CAD software (SolidWorks, Mechanical Desktop, Solid Edge) commonly used by constructors enables designing solid models of complex mechanisms of parallel kinematics. A solid model of 3-UPRR pneumatic parallel manipulator obtained by SolidWorks is presented in Fig. 17a. To record geometric and kinematic relations holding for pneumatic parallel manipulator of 3-UPRR kinematics its kinematic model presented in Fig. 17b was used. Fig. 17. Solid model a) of pneumatic parallel manipulator b) and kinematic model Fuzzylogicpositioningsystemofelectro-pneumaticservo-drive 313 a) b) c) Fig. 15. Experimental values of absolute follow-up error signal of position a), velocity b) and acceleration c) 6. Prototype of electro-pneumatic parallel 3-UPRR tripod manipulator In the Division of Mechatronics (Kielce University of Technology, Poland) a prototype of pneumatic translational parallel manipulator (PTPM) of tripod kinematic structure was constructed (Dindorf et al., 2005; Laski & Dindorf, 2007). The prototype of tripod parallel manipulator with Festo servopneumatic precision positioning systems is presented in Fig. 1a. The manipulator possesses a supporting structure, fixed base, moving platform and three pneumatic linear motions (servopneumatic axis). Each servopneumatic axis consists of: rodless pneumatic cylinder type DGPIL-25-600 with integral feedback transducer (built-in 'Temposonic' encoders for continual positioning feedback to the master control unit), 5/3 servopneumatic valve (proportional directional control valve) type MPYE-5-1/8-HF-010B, axis interface type SPC-AIF, positioning axis sub-controller type SPC-200 (the use of a sub- controller card permits control of up to four axes) and Ethernet/Can Bus interface. According to the systematics the prototype of 3-DoF pneumatic translational parallel manipulators is of 3-UPRR kinematic structure (Fig. 1b). Each of the three identical closed- loop chains of the manipulator consists of serial kinematic chains: universal cardan joint (U), prismatic joint (P), formed by a rodless pneumatic cylinder and two revolute joints (2R) formed after universal cardan had been parted. The slide of rodless cylinder was connected with fixed base by means of articulated joints of U cardan and the end cap of cylinder were connected by revolute joint R to the moving platform. The second revolute joint R was placed in tool center point (TCP) of the moving platform. The presented construction of the parallel manipulator ensures parallel position of the moving platform to the fixed base for optional position of pneumatic cylinder. The kinematic structure of a new prototype of 3- UPRR pneumatic parallel manipulator is an interesting solution expanding the architecture of parallel manipulators, type 3-DoF TPM. a) b) Fig. 16. Pneumatic translational parallel manipulator: a) prototype, b) kinematics scheme 7. Model research of electro-pneumatic parallel 3-UPRR tripod manipulator CAD software (SolidWorks, Mechanical Desktop, Solid Edge) commonly used by constructors enables designing solid models of complex mechanisms of parallel kinematics. A solid model of 3-UPRR pneumatic parallel manipulator obtained by SolidWorks is presented in Fig. 17a. To record geometric and kinematic relations holding for pneumatic parallel manipulator of 3-UPRR kinematics its kinematic model presented in Fig. 17b was used. Fig. 17. Solid model a) of pneumatic parallel manipulator b) and kinematic model RobotManipulators,TrendsandDevelopment314 By means of Dynamic Designer Motion, which possesses graphic interface SolidWorks the simulation of pneumatic parallel manipulator’s motion was conducted. In order to simulate the manipulator’s motion it was necessary to define the basic parameters, kinematic joints and motion restrictions. For solid model a few composite relations were defined which enabled assigning them kinematic joints. In some cases it was necessary to introduce joints describing the construction’s stiffness. Basing upon material properties and the shape of particular solids the mass of the solid model was calculated. The simulation of manipulator’s parallel mechanism motion was saved in .avi format. The simulations conducted on a solid model aimed at position analysis of TCP point of the moving platform. The position of TCP point results from linear motion of pneumatic rodless cylinder, independently controlled by servo-valves. Since the application of SolidWorks in modeling kinematics and dynamics of parallel manipulators is restricted further simulation was carried out by means of SimMechanics library of Matlab-Simulink package. The library enables the construction of complex mechanisms of parallel manipulators excluding mathematical descriptions of their kinematics and dynamics. The kinematic model of 3-UPRR manipulator obtained by means of SimMechanics library is presented as block diagram in Fig. 18. Fig. 18. The block-diagram of kinematic model of electro-pneumatic parallel tripod manipulator On the basis of this block-diagram the equivalent model of pneumatic parallel manipulator was worked out (Fig. 19a). In simulations based upon SimMechanics library an equivalent model of pneumatic tripod manipulator with its spatial orientation indicated was constructed. In SimMechanics library all the solid elements of the manipulator were described by substitute geometry by means of ellipsoids and assigned both masses and inertial tensors. In Matlab-Simulink environment tripod-based parallel kinematic manipulator was connected with its control system. The equivalent model retains kinematic joints and spatial orientation defined in solid model in SolidWorks. To create the equivalent model it was necessary to define the gravity centre of solids in central and local coordinates. The kinematic model was used to TCP trajectory analysis. The TCP trajectory of pneumatic parallel manipulator in Cartesian coordinates is shown in Fig. 19b. The research on the model was supplemented with the analysis of servo-pneumatic axis control applied in 3-UPRR pneumatic parallel manipulator. By means of simulation model and experimental setup transpose control, follow-up control, trajectory motion control and fuzzy control of single servo-pneumatic axis were investigated (Takosoglu 2005). To control the servo-pneumatic axis a controller FLC (Fuzzy Logic Controller) of PD type was used. In fuzzyfication process conditionally firing rules of type MIN, implication operator of type MIN and aggregation of output rules of type MAX were employed. Twenty five FLC’s knowledge base forming FLC’s control surface were used. To obtain fuzzy output value the center of gravity function (COG) was used. a) b) c) Fig. 19. The equivalent model a), TCP trajectory b) and velocity of electro-pneumatic parallel tripod manipulator Fuzzylogicpositioningsystemofelectro-pneumaticservo-drive 315 By means of Dynamic Designer Motion, which possesses graphic interface SolidWorks the simulation of pneumatic parallel manipulator’s motion was conducted. In order to simulate the manipulator’s motion it was necessary to define the basic parameters, kinematic joints and motion restrictions. For solid model a few composite relations were defined which enabled assigning them kinematic joints. In some cases it was necessary to introduce joints describing the construction’s stiffness. Basing upon material properties and the shape of particular solids the mass of the solid model was calculated. The simulation of manipulator’s parallel mechanism motion was saved in .avi format. The simulations conducted on a solid model aimed at position analysis of TCP point of the moving platform. The position of TCP point results from linear motion of pneumatic rodless cylinder, independently controlled by servo-valves. Since the application of SolidWorks in modeling kinematics and dynamics of parallel manipulators is restricted further simulation was carried out by means of SimMechanics library of Matlab-Simulink package. The library enables the construction of complex mechanisms of parallel manipulators excluding mathematical descriptions of their kinematics and dynamics. The kinematic model of 3-UPRR manipulator obtained by means of SimMechanics library is presented as block diagram in Fig. 18. Fig. 18. The block-diagram of kinematic model of electro-pneumatic parallel tripod manipulator On the basis of this block-diagram the equivalent model of pneumatic parallel manipulator was worked out (Fig. 19a). In simulations based upon SimMechanics library an equivalent model of pneumatic tripod manipulator with its spatial orientation indicated was constructed. In SimMechanics library all the solid elements of the manipulator were described by substitute geometry by means of ellipsoids and assigned both masses and inertial tensors. In Matlab-Simulink environment tripod-based parallel kinematic manipulator was connected with its control system. The equivalent model retains kinematic joints and spatial orientation defined in solid model in SolidWorks. To create the equivalent model it was necessary to define the gravity centre of solids in central and local coordinates. The kinematic model was used to TCP trajectory analysis. The TCP trajectory of pneumatic parallel manipulator in Cartesian coordinates is shown in Fig. 19b. The research on the model was supplemented with the analysis of servo-pneumatic axis control applied in 3-UPRR pneumatic parallel manipulator. By means of simulation model and experimental setup transpose control, follow-up control, trajectory motion control and fuzzy control of single servo-pneumatic axis were investigated (Takosoglu 2005). To control the servo-pneumatic axis a controller FLC (Fuzzy Logic Controller) of PD type was used. In fuzzyfication process conditionally firing rules of type MIN, implication operator of type MIN and aggregation of output rules of type MAX were employed. Twenty five FLC’s knowledge base forming FLC’s control surface were used. To obtain fuzzy output value the center of gravity function (COG) was used. a) b) c) Fig. 19. The equivalent model a), TCP trajectory b) and velocity of electro-pneumatic parallel tripod manipulator RobotManipulators,TrendsandDevelopment316 Application of FLC controller improved dynamics and positioning accuracy of servopneumatic axis and eliminated disturbances in its control system. On the basis of the research the control of servopneumatic axis using fuzzy logic for trajectory planning of parallel manipulators can be established. The research proves applicability of fuzzy logic in control of pneumatic parallel manipulators with different kinematic chain structure. Advanced servopneumatic positioning contributes to a new generation of parallel manipulators. Especially parallel manipulators actuated by servopneumatic axis enable realization of very fast pick and place in 3-D workspace. Fig. 20. Working space of pneumatic parallel manipulator Fig. 21. Component elements of electro-pneumatic parallel tripod manipulator: 1 - basis, 2 - cylinder, 3 - servo-valve 5/3, 4 - universal Cardan joints, 5 - working platform, 6 - control panel, 7 - the driver the SPC -200, 8 - the interface of communicate the network SPC AIF MTS, 9 - the connector communication 13 5 4 2 13 5 4 2 1 3 5 4 2 SPC200 Communication Module PC RS232 Module I/O Control Module L 3 p l a t f o r m b a s e Manual pulpit Communication card SPC-AIF-MTS PC WinPisa V1 V2 V3 A1 A2 A3 Control Module L L 2 1 Communication card SPC-AIF-MTS Communication card SPC-AIF-MTS Fig. 22. Schematic diagram of pneumatic servo-drive parallel manipulator 8. Conclusion The results of simulation and experimental tests conducted for pneumatic servo-drive with FLC are presented. For positioning control of pneumatic servo-drive a fuzzy PD controller was designed and constructed by means of xPC Target software of Matlab-Simulink package for rapid prototyping and hardware-in-the-loop simulation. The non-linear simulation model of pneumatic servo-drive was constructed and used to tune fuzzy PD controller by means of Fuzzy Logic Toolbox of Matlab-Simulink package. The research stand consisted of two computers: Host and Target with the first of them being the master and performing the function of the operator towards the direct control layer and the second directly controlling the pneumatic servo-drive. The fuzzy logic PD controller enables precise positioning of pneumatic servo-drive with the precision specified for industrial manipulators. A lot of simulation and experimental tests were carried on pneumatic servo- drive with fuzzy controller which was used for its transpose and follow-up control. The designed fuzzy system is efficient, stable and resistant to disturbances and can be applied in any configurations of pneumatic servo-drive without necessity to tune the regulator, apply signal filtration or additional operations in track control or restrict the signals generated. The analysis of displacement and velocity characteristics show that their runs are similar. The position delay (approx. 0,5 s) on the experimental characteristics in relation to input signal is caused by break away friction force. In the process of servo cylinder's motion correcting effect of FLC leading to rapid minimization of displacement error is observed. In Fuzzylogicpositioningsystemofelectro-pneumaticservo-drive 317 Application of FLC controller improved dynamics and positioning accuracy of servopneumatic axis and eliminated disturbances in its control system. On the basis of the research the control of servopneumatic axis using fuzzy logic for trajectory planning of parallel manipulators can be established. The research proves applicability of fuzzy logic in control of pneumatic parallel manipulators with different kinematic chain structure. Advanced servopneumatic positioning contributes to a new generation of parallel manipulators. Especially parallel manipulators actuated by servopneumatic axis enable realization of very fast pick and place in 3-D workspace. Fig. 20. Working space of pneumatic parallel manipulator Fig. 21. Component elements of electro-pneumatic parallel tripod manipulator: 1 - basis, 2 - cylinder, 3 - servo-valve 5/3, 4 - universal Cardan joints, 5 - working platform, 6 - control panel, 7 - the driver the SPC -200, 8 - the interface of communicate the network SPC AIF MTS, 9 - the connector communication 13 5 4 2 13 5 4 2 1 3 5 4 2 SPC200 Communication Module PC RS232 Module I/O Control Module L 3 p l a t f o r m b a s e Manual pulpit Communication card SPC-AIF-MTS PC WinPisa V1 V2 V3 A1 A2 A3 Control Module L L 2 1 Communication card SPC-AIF-MTS Communication card SPC-AIF-MTS Fig. 22. Schematic diagram of pneumatic servo-drive parallel manipulator 8. Conclusion The results of simulation and experimental tests conducted for pneumatic servo-drive with FLC are presented. For positioning control of pneumatic servo-drive a fuzzy PD controller was designed and constructed by means of xPC Target software of Matlab-Simulink package for rapid prototyping and hardware-in-the-loop simulation. The non-linear simulation model of pneumatic servo-drive was constructed and used to tune fuzzy PD controller by means of Fuzzy Logic Toolbox of Matlab-Simulink package. The research stand consisted of two computers: Host and Target with the first of them being the master and performing the function of the operator towards the direct control layer and the second directly controlling the pneumatic servo-drive. The fuzzy logic PD controller enables precise positioning of pneumatic servo-drive with the precision specified for industrial manipulators. A lot of simulation and experimental tests were carried on pneumatic servo- drive with fuzzy controller which was used for its transpose and follow-up control. The designed fuzzy system is efficient, stable and resistant to disturbances and can be applied in any configurations of pneumatic servo-drive without necessity to tune the regulator, apply signal filtration or additional operations in track control or restrict the signals generated. The analysis of displacement and velocity characteristics show that their runs are similar. The position delay (approx. 0,5 s) on the experimental characteristics in relation to input signal is caused by break away friction force. In the process of servo cylinder's motion correcting effect of FLC leading to rapid minimization of displacement error is observed. In RobotManipulators,TrendsandDevelopment318 the next motion phase the simulation and experimental characteristics are almost the same. The runs of absolute follow-up error of position signal and velocity are also similar and the differences result from the quality of performance control. Some oscillations of transient response most probably caused by time delay, stick-slip effect in seals and strip of pneumatic rodless cylinder are observed. In the the mathematical model of the cylinder Stribeck friction force was taken into account. Including LuGre (Lund-Grenoble) model in the friction would considerably improve the simulation results but would also make the numerical solutions of simulation model much more complex. It seems that other simplifications of mathematical model do not influence the difference between simulation and experimental results. It should be noted however, that differences between simulation and experimental results are affected by measurement noise in displacement transducer. In simulations measurement noise was not taken into account. The teaching/play-back control system using fuzzy logic control was constructed and practically applied in various servo-pneumatic systems used in production automation. Basing upon the presented control/teaching/play-back system the prototype of physiotherapy manipulator facilitating the movement of hand and leg is being constructed (Takosoglu, 2005). The research on models shortened the construction process of the prototype of 3-UPRR electro-pneumatic parallel manipulator. The analysis of geometric and kinematic properties of the prototype resulted in numerous changes and modifications of its construction made in order to obtain the biggest workspace without collision with pneumatic linear motion. The research enabled drawing the conclusions on construction optimization and control of 3-UPRR pneumatic parallel manipulator. Our further research will focus on dynamic analysis and dynamic synthesis as well as on 3-UPRR pneumatic parallel manipulator’s programming. The presented novel 3-UPRR parallel mechanism will find its application in manufacturing manipulators and rehabilitation manipulators. Thanks to application of parallel kinematics in construction of electropneumatic manipulators higher rigidity of the whole pneumatic structure has been obtained and both positioning precision and dynamic properties have been improved. The closed mechanical chains make the dynamics of parallel manipulators coupled and highly nonlinear. 9. References Bucher R.; Balemi S. (2006). Rapid controller prototyping with Matlab/Simulink and Linux. Control Engineering Practice, Vol. 14, (May 2006), pp. 185-192 Dindorf R.; Laski P.; Takosoglu J. (2005). Control of electro-pneumatic 3-DOF parallel manipulator using fuzzy logic. Hydraulika a Pneumatyka, Vol. 1-2, (January 2005), pp. 56-59, ISSN 1335-5171 Dindorf R.; Laski P.; Takosoglu J. (2008). Solid modeling of pneumatic elements and driving systems, Book of Extended Abstracts of the 12 th International Scientific Seminar on Developments in Machinery Design and Control, pp.27-28, ISBN 978-83-87982-08-9, Cerveny Klastor, September 2008, University of Technology and Live Sciences, Bydgoszcz Dindorf R.; Takosoglu J. (2005). Analysis of pneumatic servo-drive control system using fuzzy controller. Pneumatyka Vol. 1 (January-February 2005), pp. 51-53, ISSN 1426- 6644 Driankov, D.; Hellendoorn, H.; Reinfrank, M. (1996) An introduction to fuzzy control, WNT, ISBN 83-204-2030-x, Warsaw Kandel A. (1991). Fuzzy Expert Systems, CRC Press, Inc., ISBN 08-493-4297-x, Boca Raton, Florida Kandel A.;, Langholz G. (1993). Fuzzy Control Systems, CRC Press, Inc., ISBN 08-493-4496-4, Boca Raton, Florida Laski P.; Dindorf R. (2007). Prototype of pneumatic parallel manipulator. Hydraulika a Pneumatyka, Vol. 1, (January 2007), pp. 22-24, ISSN 1335-5171 Laski P.; Dindorf R. (2007). Prototyping of tripod-type pneumatic parallel manipulatore, Book of Extended Abstracts of the 11 th International Scientific Seminar on Developments in Machinery Design and Control, pp.49, ISBN 83-87982-42-3, Cerveny Klastor, September 2007, University of Technology and Live Sciences, Bydgoszcz McNeill F. M. (1994). Fuzzy Logic A Practical Approach, Academic Press Professional, Inc., ISBN 0-12-485965-8, Boston Merlet J. P. (2006). Parallel robots, Springer, ISBN 1-4020-4132-7, Dordrecht Murray R. M.; Li Z.; Sastry S. S. (1994). A mathematical introduction to robotic manipulation, CRC Press, Inc., ISBN 0-8493-7981-4, Boca Raton, Florida Renn J. C.; Liao C. M. (2004). A study on the speed control performance of a servo- pneumatic motor and the application to pneumatic tools. The International Journal of Advanced Manufacturing Technology, Vol. 23, (February 2004), pp. 572–576, ISSN 1433-3015 Sandler B. Z. (1999). Robotics: Designing the mechanisms for automated machinery, Academic Press, ISBN 0-12-618520-4, California Schulte H.; Hahn H. (2004). Fuzzy state feedback gain scheduling control of servo- pneumatic actuators. Control Engineering Practice, Vol. 12, (May 2004), pp. 639-650 Situm Z.; Pavkovic D.; Novakovic B. (2004). Servo pneumatic position control using fuzzy PID gain scheduling. Transactions of the ASME Journal of Dynamic Systems, Measurement, and Control, Vol. 126, (June 2004), pp. 376-387 Spooner J. T.; Maggiore M.; Ordonez R.; Passino K. M. (2002). Stable adaptive control and estimation for nonlinear systems: Neural and fuzzy approximator techniques. John Wiley & Sons, Inc., ISBN 0-471-22113-9, New York Takosoglu J.; Dindorf R. (2005). Fuzzy control of pneumatic servo-drive. Proceedings of the 15 th National Conference of Automatics, pp. 117-120, ISBN 83-89475-01-4, Warsaw, June 2005, Systems Research Institute Polish Academy of Science, Warsaw Takosoglu J.; Dindorf R. (2006). Rapid prototyping a fuzzy control of electro-pneumatic servo-drive in real time. Scientific Bulletin of the College of Computer Science, Vol. 5, No. 1, pp.57-70, Takosoglu J.; Dindorf R. (2007). Positioning and teaching/play-back fuzzy control of electro- pneumatic servo-drive in real time, Proceedings of the 7 th European Conference of Young Research and Science Workers Transcom 2007, pp. 199-202, ISBN 978-80-8070- 694-4, Zilina, June 2007, University fo Zilina, Zilina Takosoglu J.; Dindorf R. (2007). Positioning control and teaching/play-back control of electro-pneumatic servo-drive, Book of Extended Abstracts of the 11 th International Scientific Seminar on Developments in Machinery Design and Control, pp.89, ISBN 83- 87982-42-3, Cerveny Klastor, September 2007, University of Technology and Live Sciences, Bydgoszcz Fuzzylogicpositioningsystemofelectro-pneumaticservo-drive 319 the next motion phase the simulation and experimental characteristics are almost the same. The runs of absolute follow-up error of position signal and velocity are also similar and the differences result from the quality of performance control. Some oscillations of transient response most probably caused by time delay, stick-slip effect in seals and strip of pneumatic rodless cylinder are observed. In the the mathematical model of the cylinder Stribeck friction force was taken into account. Including LuGre (Lund-Grenoble) model in the friction would considerably improve the simulation results but would also make the numerical solutions of simulation model much more complex. It seems that other simplifications of mathematical model do not influence the difference between simulation and experimental results. It should be noted however, that differences between simulation and experimental results are affected by measurement noise in displacement transducer. In simulations measurement noise was not taken into account. The teaching/play-back control system using fuzzy logic control was constructed and practically applied in various servo-pneumatic systems used in production automation. Basing upon the presented control/teaching/play-back system the prototype of physiotherapy manipulator facilitating the movement of hand and leg is being constructed (Takosoglu, 2005). The research on models shortened the construction process of the prototype of 3-UPRR electro-pneumatic parallel manipulator. The analysis of geometric and kinematic properties of the prototype resulted in numerous changes and modifications of its construction made in order to obtain the biggest workspace without collision with pneumatic linear motion. The research enabled drawing the conclusions on construction optimization and control of 3-UPRR pneumatic parallel manipulator. Our further research will focus on dynamic analysis and dynamic synthesis as well as on 3-UPRR pneumatic parallel manipulator’s programming. The presented novel 3-UPRR parallel mechanism will find its application in manufacturing manipulators and rehabilitation manipulators. Thanks to application of parallel kinematics in construction of electropneumatic manipulators higher rigidity of the whole pneumatic structure has been obtained and both positioning precision and dynamic properties have been improved. The closed mechanical chains make the dynamics of parallel manipulators coupled and highly nonlinear. 9. References Bucher R.; Balemi S. (2006). Rapid controller prototyping with Matlab/Simulink and Linux. Control Engineering Practice, Vol. 14, (May 2006), pp. 185-192 Dindorf R.; Laski P.; Takosoglu J. (2005). Control of electro-pneumatic 3-DOF parallel manipulator using fuzzy logic. Hydraulika a Pneumatyka, Vol. 1-2, (January 2005), pp. 56-59, ISSN 1335-5171 Dindorf R.; Laski P.; Takosoglu J. (2008). Solid modeling of pneumatic elements and driving systems, Book of Extended Abstracts of the 12 th International Scientific Seminar on Developments in Machinery Design and Control, pp.27-28, ISBN 978-83-87982-08-9, Cerveny Klastor, September 2008, University of Technology and Live Sciences, Bydgoszcz Dindorf R.; Takosoglu J. (2005). Analysis of pneumatic servo-drive control system using fuzzy controller. Pneumatyka Vol. 1 (January-February 2005), pp. 51-53, ISSN 1426- 6644 Driankov, D.; Hellendoorn, H.; Reinfrank, M. (1996) An introduction to fuzzy control, WNT, ISBN 83-204-2030-x, Warsaw Kandel A. (1991). Fuzzy Expert Systems, CRC Press, Inc., ISBN 08-493-4297-x, Boca Raton, Florida Kandel A.;, Langholz G. (1993). Fuzzy Control Systems, CRC Press, Inc., ISBN 08-493-4496-4, Boca Raton, Florida Laski P.; Dindorf R. (2007). Prototype of pneumatic parallel manipulator. Hydraulika a Pneumatyka, Vol. 1, (January 2007), pp. 22-24, ISSN 1335-5171 Laski P.; Dindorf R. (2007). Prototyping of tripod-type pneumatic parallel manipulatore, Book of Extended Abstracts of the 11 th International Scientific Seminar on Developments in Machinery Design and Control, pp.49, ISBN 83-87982-42-3, Cerveny Klastor, September 2007, University of Technology and Live Sciences, Bydgoszcz McNeill F. M. (1994). Fuzzy Logic A Practical Approach, Academic Press Professional, Inc., ISBN 0-12-485965-8, Boston Merlet J. P. (2006). Parallel robots, Springer, ISBN 1-4020-4132-7, Dordrecht Murray R. M.; Li Z.; Sastry S. S. (1994). A mathematical introduction to robotic manipulation, CRC Press, Inc., ISBN 0-8493-7981-4, Boca Raton, Florida Renn J. C.; Liao C. M. (2004). A study on the speed control performance of a servo- pneumatic motor and the application to pneumatic tools. The International Journal of Advanced Manufacturing Technology, Vol. 23, (February 2004), pp. 572–576, ISSN 1433-3015 Sandler B. Z. (1999). Robotics: Designing the mechanisms for automated machinery, Academic Press, ISBN 0-12-618520-4, California Schulte H.; Hahn H. (2004). Fuzzy state feedback gain scheduling control of servo- pneumatic actuators. Control Engineering Practice, Vol. 12, (May 2004), pp. 639-650 Situm Z.; Pavkovic D.; Novakovic B. (2004). Servo pneumatic position control using fuzzy PID gain scheduling. Transactions of the ASME Journal of Dynamic Systems, Measurement, and Control, Vol. 126, (June 2004), pp. 376-387 Spooner J. T.; Maggiore M.; Ordonez R.; Passino K. M. (2002). Stable adaptive control and estimation for nonlinear systems: Neural and fuzzy approximator techniques. John Wiley & Sons, Inc., ISBN 0-471-22113-9, New York Takosoglu J.; Dindorf R. (2005). Fuzzy control of pneumatic servo-drive. Proceedings of the 15 th National Conference of Automatics, pp. 117-120, ISBN 83-89475-01-4, Warsaw, June 2005, Systems Research Institute Polish Academy of Science, Warsaw Takosoglu J.; Dindorf R. (2006). Rapid prototyping a fuzzy control of electro-pneumatic servo-drive in real time. Scientific Bulletin of the College of Computer Science, Vol. 5, No. 1, pp.57-70, Takosoglu J.; Dindorf R. (2007). Positioning and teaching/play-back fuzzy control of electro- pneumatic servo-drive in real time, Proceedings of the 7 th European Conference of Young Research and Science Workers Transcom 2007, pp. 199-202, ISBN 978-80-8070- 694-4, Zilina, June 2007, University fo Zilina, Zilina Takosoglu J.; Dindorf R. (2007). Positioning control and teaching/play-back control of electro-pneumatic servo-drive, Book of Extended Abstracts of the 11 th International Scientific Seminar on Developments in Machinery Design and Control, pp.89, ISBN 83- 87982-42-3, Cerveny Klastor, September 2007, University of Technology and Live Sciences, Bydgoszcz RobotManipulators,TrendsandDevelopment320 Takosoglu, J. (2005). Analysis and synthesis of pneumatic multi-axis servo-drive control system using fuzzy controller, Dissertation, Kielce University of Technology, Kielce Takosoglu, J. E.; Dindorf, R. F.; Laski, P. A. Rapid prototyping of fuzzy controller pneumatic servo-system. The International Journal of Advanced Manufacturing Technology, Vol. 40, No. 3-4, January 2008, pp. 349-361, ISSN 0268-3768 Takosoglu, J.; Dindorf, R. (2005) Fuzzy control of pneumatic servo-drive, Proceedings of the 15 th National Conference of Automatics. Systems Research Institute Polish Academy of Science, pp. 117-120, ISBN 83-89475-01-4, Warsaw, June 2005, Systems Research Institute Polish Academy of Science, Warsaw Tsai L. W. (1999). Robot analysis: The mechanics of serial and parallel manipulators, John Wiley & Sons, Inc., ISBN 0-471-32593-7, New York Wolkenhauer O. (2001). Fuzzy mathematics in systems theory and data analysis, John Wiley & Sons, Inc., ISBN 0-471-22434-0, New York Yager, RR.; Filev, DP. (1994) Essentials of fuzzy modeling and control, WNT, ISBN 83-204-1909- 3, Warsaw Zhu Y. (2006). Control of pneumatic systems for free space and interaction tasks with system and environmental uncertainties, Dissertation, Vanderbilt University, Nashville, Tennessee [...]... continuous tasks requiring a work of the arm during the displacement, the mobile manipulators have been considered Mobile manipulators received particular attentions these last decades (Zhao et al, 199 4); (Pin & Culioli, 199 2); (Pin et al, 199 6); (Lee & Cho, 199 7); (Seraji, 199 5) This is mainly due to their analytic problems and their various applications A mobile manipulator consists of an arm fixed on... Mechatronics, Vol 19, 774-7 79 Sanfeliu, A.; Hagita, N & Saffiottid, A (2008) Network robot systems, Robotics and Autonomous Systems, Vol 56, 793 - 797 Sheridan, T B ( 199 5) Teleoperation, telerobotics and telepresence: A progress report, Control Engineering Practice, Vol 3, No 2, 205-214 Slawiñski, E.; Postigo, J & Mut, V (2007) Bilateral teleoperation through the Internet, Robotics and Autonomous Systems,... P (20 09) Vision guided manipulation for planetary robotics — Position control, Robotics and Autonomous Systems, 10.1016/j .robot. 20 09. 07.0 29 Park, B J.; Flores, R M & Rusch, V W (2006) Robotic assistance for video-assisted thoracic surgical lobectomy: Technique and initial results, The Journal of Thoracic and Cardiovascular Surgery, Vol 131, No 1, 54- 49 Rogers, J R (20 09) Low-cost teleoperable robotic... non-integrable and hence, a collision free path in the configuration space not achievable by steering control Some researchers worked to find feasible path using different methodologies (Sundar & Shiller, 199 7), (Laumond et al, 199 4), (Reeds & Shepp, 199 0) To deal with obstacles, some researchers decomposed the dynamic motion to static paths and velocity-planning problem (Murray et al, 199 4), (Tilbury et al, 199 5)... Sanfeliu et al., 2008; Sheridan, 199 5; Stassen, 199 7) Teleoperation techniques of robot have been developed for many purposes such as ball catching task (Smith et al., 2008), remote handling of dangerous materials in a nuclear environment (Geeter et al., 199 9), undersea operation, explosive material disposals, robot- assisted surgery (Challacombe, 2003; Marohn, 2004; Park, 2006) and manipulation systems for... System of Industrial Articulated Robot Arms by Using Forcefree Control 3 29 330 Robot Manipulators, Trends and Development Arm) The schematic parameters of these robots are shown in Table 2 The position loop gain was given as K p = 25 [1/s] and the velocity loop gain was given as Kv = 150 [1/s] for Performer MK3 and the position loop gain was given as K p = 2 [1/s] and the velocity loop gain was given... diagram of the operational side and the hand side shows that of the working side The operational side and the working side are connected by the network A servo controller of industrial robot arm includes a position loop and a velocity loop (Kyura, 199 6; Nakamura et al., 2004) Input to the industrial robot arm is usually the joint position of each link Hence, the industrial robot arms should be considered... Slawiñski et al., 2007) and nonlinear adaptive control (Hung, 2003) Explosively grown network technology and robot technology are inextricable relation and expectation on the network robotics becomes large In usual teleoperation systems, the operational side and the working side are determined definitely in advance, and the robot in the working side moves according to the command from the operational... 336 Robot Manipulators, Trends and Development facing some other problems In fact the task is usually expressed in the workspace coordinates and the question is how to map this space into configuration space This problem finds its solution in the inverse kinematics However, calculating the inverse kinematics is hard, and the problem becomes much harder if the robot has many DOFs Moreover, for a particular... control with independent compensation, the robot arm moves passively according to the external force as in the circumstance of the assigned friction, 322 Robot Manipulators, Trends and Development the assigned gravity and the assigned inertia The forcefree control can be applied to the direct teaching (Kushida et al., 2001) and pull-put work of the industrial robot arms (Kushida et al., 2003) In this . Developments in Machinery Design and Control, pp. 89, ISBN 83- 8 798 2-42-3, Cerveny Klastor, September 2007, University of Technology and Live Sciences, Bydgoszcz Robot Manipulators, Trends and Development3 20 Takosoglu,. Reinfrank, M. ( 199 6) An introduction to fuzzy control, WNT, ISBN 83-204-2030-x, Warsaw Kandel A. ( 199 1). Fuzzy Expert Systems, CRC Press, Inc., ISBN 08- 493 -4 297 -x, Boca Raton, Florida Kandel A.;,. Reinfrank, M. ( 199 6) An introduction to fuzzy control, WNT, ISBN 83-204-2030-x, Warsaw Kandel A. ( 199 1). Fuzzy Expert Systems, CRC Press, Inc., ISBN 08- 493 -4 297 -x, Boca Raton, Florida Kandel A.;,