FPGA EMBEDDED PD CONTROL OF A 1 DOF MANIPULATOR WITH A PNEUMATIC ACTUATOR

Ramos-Arreguin Juan-Manuel, Tovar-Arriaga Saul, Vargas-Soto Jose-Emilio, and Aceves-Fernandez Marco-Antonio

References

  1. [1] E. Richer and Y. Hurmuzlu, A high performance pneumatic force actuator system, ASME Journal of Dynamic Systems Measurement and Control, 122(3), 2000, 416–425.
  2. [2] M.B. Binnard, A small pneumatic walking robot, Master of Science Thesis, Artificial Intelligence Laboratory, MIT, 1995.
  3. [3] C. Mavroidis, Development of advanced actuators using shape memory alloys and electrorheological fluids, Journal of Research in Nondestructive Evaluation, 14(1), 1–32.
  4. [4] B. Ist´ok, V. Szente, and J. Vad, Behavior of a pneumatic pressure regulator valve under leakage circumstances, 2nd International Conference on Heat Transfer, Fluid Mechanics and Thermodynamics, Victoria Falls, Zambia, 2003.
  5. [5] J. Wang, J.D. Wang, N. Daw, and Q.H. Wu, Identification of pneumatic cylinder friction parameters using genetic algorithms, IEEE/ASME Transactions on Mechatronics, 9(1), 2004, 100–107.
  6. [6] J. Mirro, Automatic feedback control of a vibrating flexible beam, MS Thesis, Department of Mechanical Engineering, Massachusetts Institute of Technology, 1972.
  7. [7] R. Richardson, M. Brown, B. Bhakta, and M. Levesley, Impedance control for a pneumatic robot-based around poleplacement, joint space controllers, Control Engineering Practice, Elsevier, 13(3), 291–303.
  8. [8] G.S. Fischer, I. Iordachita, C. Csoma, J. Tokuda, S.P. DiMaio, C.M. Tempany, N. Hata, and G. Fichtinger, MRI-compatible pneumatic robot for transperineal prostate needle placement, IEEE/ASME Transactions on Mechatronics, 13(3), 2008, 295– 305.
  9. [9] N. Tsujiuchi, T. Koizumi, S. Nishino, H. Komatsubara, T. Kudawara, and M. Hirano, Development of pneumatic robot hand and construction of master–slave system, Journal of System Design and Dynamics, 2(6), 2008, 1306–1315.
  10. [10] K. Watanabe, H. Nagayasu, N. Kawakami, and S. Tachi, Mechanical compliance control system for a pneumatic robot arm, SICE Annual Conf., 2008.
  11. [11] H. Schultea and K. Gueltonb, Descriptor modelling towards control of a two link pneumatic robot manipulator: A T–S multimodel approach, Nonlinear Analysis: Hybrid Systems, 3(2), 2009, 124–132.
  12. [12] F.F. Kiyama and J.E. Vargas, Dynamic model analysis of a pneumatically operated flexible arm, WSEAS Transactions on Systems, 4(1), 2005, 49–54.
  13. [13] C.R. Burrows and C.R. Webb, Simulation of an on–off pneumatic servomechanism, Automatic Control Group, 1968.
  14. [14] R.B. Varseveld and G.M. Bone, Accurate position control of a pneumatic actuator using on/off solenoid valves, IEEE/ASME Transactions on Mechatronics, 2(3), 1997, 195–204.
  15. [15] P.D. Henri, J.M. Hollerbach, and A. Nahvi, An analytical and experimental investigation of a jet pipe controlled electropneumatic actuator, IEEE Transactions on Robotics and Automation, 14(4), 1998, 601–611.
  16. [16] J. Wang, J. Pu, and P. Moore, A practical control strategy for servo-pneumatic actuator systems, Control Engineering Practice, 7(12), 1999, 1483–1488.
  17. [17] D.G. Caldwell, N. Tsagarakisa, G.A. Medrano-Cerda, J. Schofieldb, and S. Brown, A pneumatic muscle actuator driven manipulator for nuclear waste retrieval, Control Engineering Practice, 9(1), 2001, 23–36.
  18. [18] R. Richardson, M. Brown, B. Bhaktac, and M. Levesleyd, Impedance control for a pneumatic robot-based around poleplacement, joint space controllers, Control Engineering Practice, 13(3), 2005, 291–334.
  19. [19] J.M. Ramos, E. Gorrostieta, J.E. Vargas, J.C. Pedraza, R. Romero, and B. Ram´ırez, Pneumatic cylinder control for a flexible manipulator robot, Methods and Models in Automation and Robotics, 2006.
  20. [20] R.A. Osornio-Rios, et al. The application of reconfigurable logic to high speed CNC milling machines controller, Control Engineering Practice, 2007, doi:10.1016/j.conengprac.2007.08.004.
  21. [21] V. Sornam, Embedded control using FPGA, Seminar Report, Interdisciplinary Programmer in Systems and Control Engineering, Indian Institute of Technology, 2005.
  22. [22] J. Lima, R. Menotti, J.M.P. Cardoso, and E. Marques, A methodology to design FPGA-based PID controllers, IEEE International Conference on Systems, Man, and Cybernetics (SMC), Taipei, Taiwan, 2006.
  23. [23] R. Isermann, Mechatronic systems – Innovative products with embedded control. Control and Practice, 2007 (online).
  24. [24] R.-A. Juan-Manuel, G.-H. Efren, P.-O. Jesus-Carlos, A.-F. Marco-Antonio, and V.-S. Jose-Emilio, Fuzzy logic applied to control a one degree of freedom (DOF) pneumatic robot, International Journal of the Physical Sciences, 6(23), 2011, 5575–5585.
  25. [25] Y. Su, D. Sun, L. Ren, and J.K. Mills, Integration of saturated PI synchronous control and PD feedback for control of parallel manipulators, IEEE Transactions on Robotics, 22(1), 2006, 202–207, doi:10.1109/TRO.2005.858852.
  26. [26] C. Murrugarra, J. Grieco, G. Fernandez, and O. De Castro, Design of a PD position control based on the Lyapunov theory for a robot manipulator flexible-link, IEEE International Conf. on Robotics and Biomimetics, ROBIO ’06, 2006, 890–895, doi:10.1109/ROBIO.2006.340338.
  27. [27] Xilinx. (2005). Spartan-3 Family FPGAs Data Sheet. www.xilinx.com.

Important Links:

Go Back