Development and Control of a Pneumatic Robot Arm for Industrial Fields
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1 Interntionl Journl of Advnced Robotic Systems ARTICLE Development nd Control of Pneumtic Robot Arm for Industril Fields Regulr Pper Sho Med, Nobutk Tsujiuchi,*, Tkyuki Koizumi, Mitsums Sugiur 2 nd Hiroyuki Kojim 2 Doshish university 2 SQUSE Inc. * Corresponding uthor E-mil: ntsujiuc@mil.doshish.c.jp Received 2 Apr 22; Accepted 7 Jun 22 DOI:.5772/ Med et l.; licensee InTech. This is n open ccess rticle distributed under the terms of the Cretive Commons Attribution License ( which permits unrestricted use, distribution, nd reproduction in ny medium, provided the originl work is properly cited. Abstrct We developed pneumtic robot rm driven by pneumtic ctutors s verstile end effector for mteril hndling systems. The rm consists of pneumtic hnd nd pneumtic wrist. The hnd cn grsp vrious objects without force sensors or feedbck control. Therefore, this study ims to control the wrist motions to expnd the hnd motion s spce. The hnd mimics the humn hnd shpe nd cn grsp objects tht hve different shpes nd mechnicl chrcteristics. The wrist hs redundnt degrees of freedom. This is useful when the robot moves to void obstcles. However, the drive mechnism of the wrist hs nonlinerity from mechnicl viewpoint. Also, the pneumtic ctutors used s the drive source hve hysteresis chrcteristics. These fetures mke the wrist motions difficult to control. Becuse the wrist is used in mteril hndling systems, its motions need to be freely controlled. Therefore, in this reserch, experimentl models of the drive system of the pneumtic robot wrist hve been constructed. With the constructed models, the control systems were designed through simultions. After tht, we ttempted to control the wrist motions with the constructed controllers. As result, the wrist models re coincident with wrist motions. Finlly, experimentl results were obtined tht mtch the simultion results. Keywords Robot Arm, Mteril Hndling, Pneumtic Actutor, ling,, Feedbck Control. Introduction The popultion of Jpn hs strted to decrese, leding mny in the country to be concerned bout its lbour force shrinking. In industril fields, utomtion of the fctories is one wy to mke up for reduced mn power []. This leds to other dvntges such s mking production more efficient nd cutting lbour costs [2]. Vrious robots hve been used in fctories, for exmple, welding robots nd mteril hndling mchines in cr fctories [3 4]. However, the work robots cn perform is limited nd there re difficulties dpting these to different environments. This is becuse most fctory robots re controlled by only sequence control. For instnce, mteril hndling robots move their end effectors to specified position, grsp known objects nd move the objects to the next specified position. Using only sequence controllers, it is difficult for the robots to work depending on the time nd sitution. Becuse of this, the robots cnnot dpt to sudden chnges in circumstnces. To solve this problem, we need to focus on hrdwre nd softwre. In terms of hrdwre, we hve Sho Med, Nobutk Tsujiuchi, Tkyuki Koizumi, Int Mitsums J Adv Robotic Sugiur Sy, 22, nd Hiroyuki Vol. 9, 59:22 Kojim: Development nd Control of Pneumtic Robot Arm for Industril Fields
2 to develop end effectors tht cn grsp vrious things. In terms of softwre, we need to combine imge recognition techniques with feedbck nd sequence control techniques [5]. We expect tht these combined techniques will enble mteril hndling robots to perform more tsks. We previously developed pneumtic robot rm driven by pneumtic ctutors s verstile end effector. This rm consists of pneumtic hnd nd pneumtic wrist. The hnd s shpe is similr to the humn hnd nd it cn grsp objects tht hve different shpes nd mechnicl chrcteristics [6]. However, the wrist hs redundnt degrees of freedom. This is useful when the robot moves to void obstcles. However, the drive mechnism of the wrist hs nonlinerity from mechnicl viewpoint. Also, the pneumtic ctutors used s the drive source hve hysteresis chrcteristics. These fetures mke the wrist motions difficult to control [7]. Becuse the wrist is used for hndling mterils, its motions need to be freely controlled. Therefore, in this reserch, we constructed experimentl models of the drive system of the pneumtic robot wrist. With the constructed models, we designed the control system through simultions. After tht, we ttempted to control the wrist motions with the constructed controllers. 2. Pneumtic Robot Arm In previous reserch, we developed pneumtic robot rm s verstile end effector. The brod overview of this rm is shown in Fig.. The detil view of this hnd is shown in Fig. 2. This rm is composed of pneumtic hnd nd pneumtic wrist, nd we used McKibben pneumtic ctutors s the drive source. These ctutors generte force in response to pplied pressure; their constitution is shown in Fig. 3. This pneumtic ctutor hs dul structure of n internl membrne nd externl shell. When the internl membrne is inflted with compressed ir, the pressurized gs pushes ginst its externl shell, incresing its volume. The muscle rdius increses nd together with rdil expnsion, the muscle contrcts xilly nd exerts pulling force. Also, the genertive force of pneumtic ctutor depends on the ir pressure nd shrinkge rtio [8], nd these pneumtic ctutors re driven by low pressure up to.2 MP [9]. The ctutors used in this reserch re divided into two min groups. The first one is regulr pneumtic ctutor, which is between 8 45 mm. Its mximum genertive force is 4 25 N. This pneumtic ctutor is smller thn the conventionl one, therefore, through fitting this ctutor to set of fingers of robot hnd, it cn move knuckles directly []. Moreover, robot hnd consists of 3 regulr pneumtic ctutors nd possesses five fingers, similr to humn hnd. Menwhile, fitting spring on the bck side of finger enbles the finger to expnd. In this wy, pneumtic hnd cn grsp soft, frgile objects, such s eggs, without force sensors on the fingertips becuse of the complince chrcteristics of the pneumtic ctutors []. The second one is power pneumtic ctutor which is bout 7 mm. Becuse this ctutor is lrger thn the first one, it hs higher genertive force nd is used to move prts with higher power. For this reson, in pneumtic robot rm, four power pneumtic ctutors re used to drive the wrist nd one is used to dduct the thumb. Furthermore, ntgonistic configurtion of power pneumtic ctutors t the wrist enbles the wrist to perform vrious movements, such s plmr flexion/dorsl flexion or rdil devition/ulnr devition. The mobile region of this wrist is 3 deg in the plmr flexion/dorsl flexion, 2 deg in rdil devition nd 25 deg in ulnr devition. In this reserch, we im to control this wrist motion. Figure. Pneumtic Robot Arm Figure 2. Detiled View of Pneumtic Hnd Line Bse Plte Pneumtic Actutor Figure 3. Mechnism of Pneumtic Actutor 3. Electro Pneumtic Regultor Feeding Chnnel Fixed Prt In this study, we used n electro pneumtic regultor nd compressor to send ir into the pneumtic ctutor. The regultor regultes evcution pressure in ccordnce with the commnd voltge signl. This section explins 2 Int J Adv Robotic Sy, 22, Vol. 9, 59:22
3 the chrcteristics of the regultor. l conditions re determined in which the pressure provided from compressor is 3 MP nd the piping length between the regultor nd pressure sensor (PSE 53; SMC) is 2 m. The commnd signl is chnged from to 4 V by.5 V intervls. Results obtined by commnd signl of 3 V re shown in Fig. 4. These results revel the estblishment of the pressure by the regultor tkes some time. By modelling the chrcteristics of the regultor with the experimentl results, we ttempted to pply the model to simultion. First, the stedy stte chrcteristics of the electro pneumtic regultor re explined. On the bsis of the dt obtined from the preceding section, Fig. 5 shows grph in which the horizontl xis is commnd voltge nd the verticl xis is stedy stte pressure. It revels tht the voltge is proportionl to the stedy stte pressure. The reltionship is expressed s follows: P 49.4 v2.48. () In this function, P mens pressure nd v mens input voltge. Second, the trnsient property of the electro pneumtic regultor is explined. As bove, the evcution pressure of regultor tkes sec to rech stedy stte vlue, therefore, we ttempted to describe the trnsient property of the regultor with the first order lg system. The lg system is expressed s below: G s Ts. (2) In this function, mens gin nd T mens time constnt. Gin is determined to be 49.4 from Eq.. In this study, we move the pneumtic wrist fter pplying kp to the two ntgonistic ctutors in it, therefore, we pply kp to the ctutors s n initil pressure. Then we input constnt pressure. After tht we return pressure to kp. Through this tsk, the time constnt ws determined to be. nd the first order lg model is complete. Fig. 6 compres the simultion results of the first order lg model with experimentl results when the commnd voltge is 3 V. This figure shows tht the electro pneumtic regultor cnnot be fully modelled by the first order lg model. Becuse of this, new model is needed tht behves more precisely thn the first order lg model. The electro pneumtic regultor obviously needs to be controlled in some wy, therefore, we ttempted to model the regultor with proportionl (P) controller, which is the esiest control system. The system of the regultor is expressed s below: We ssume tht the system of the regultor is s shown in Fig. 7. In this system, k mens control gin, e p devition of pressure, reference pressure nd P Pref output pressure. The trnsfer function when ssembling the block digrm is expressed s below: G ( s) k s. (5) The sme formul with the first order lg model is obtined if k equls / T, which is the sme s the result of the simultion with the first order lg model. To void this, we ttempt to chnge the vlue of k depending on the pressure devition. In other words, s the pplied pressure pproches trget vlue, it cn be stbilized by decresing the gin. In this reserch, k is determined s below by compring experimentl results. 9..4e ( e ) k 9.. (6) We nme this model the vrible P control model. Fig. 8 shows simultion results obtined from the vrible P control model. This figure indictes tht these results re closer to the experimentl results thn the results with the first order lg model. Therefore, in this reserch we model the electro pneumtic regultor with vrible P control Sensor Regltor Figure 4. Output of Electro pneumtic Regultor (3V) U k e p P U. (3) (4) Applied Voltge [V] Figure 5. Reltionship between Applied Voltge nd Stedystte Pressure Sho Med, Nobutk Tsujiuchi, Tkyuki Koizumi, Mitsums Sugiur nd Hiroyuki Kojim: Development nd Control of Pneumtic Robot Arm for Industril Fields 3
4 Sensor were converted by the A/D bord of the DSP nd shown on PC monitor. Host PC PC/AT Comptible Mchine ( Core2 Qud 3.GHz ) Control Progrm MATLAB/Simulink Figure 6. with First Order Lg (3V) P ref e p - k U P s DSP dspace DS5 Electro Pneumtic Regultor Figure 9. l Apprtus Gyroscope Pneumtic Actutor Pneumtic Robot Arm Figure 7. Block Digrm of P Control System in Regultor 5. ling Of Pneumtic Wrist 5. Initil Motion of Pneumtic Wrist Figure 8. with Vrible P Control (3V) 4. l Apprtus Sensor Fig. 9 schemticlly illustrtes the experimentl pprtus. We used PC/AT comptible mchine to build progrms nd monitored the experimentl dt on MATLAB/Simulink, connecting the mchine to the DSP (dspace 5) with ISA buses to receive the sensor dt nd send the control signls to the electro pneumtic regultor (IITV 4; SMC). The experimentl environment mde it possible to crry out the control experiment with ms smpling period. The nlogue control signls converted by the DSP s D/A bord were sent to the motors through the motor driver. The ir pressure provided by the electro pneumtic regultor ws sent to the ntgonistic ctutors of the pneumtic robot rm. This mde ech ctutor expnd nd contrct, enbling the wrist to move in vrious wys. To mesure the ngle of the wrist, gyro sensors (CRS3 4; Silicon Sensoring Jpn) were fixed on the bck nd lterl side of the hnd. The ngle dt from these sensors To comprehend initil motion systems of the wrist, pressure ( kp 2 kp by 5 kp) ws pplied to the ctutors fter kp hd been pplied s n initil pressure. The results for plmr flexion/dorsl flexion nd rdil devition/ulnr devition re shown in the left nd right grphs, respectively, in Fig.. In these figures, the horizontl xis is pplied pressure nd verticl xis is the stedy stte wrist s ngle. These figures proved tht initil motions of the wrist hd ded zone round kp Figure. Reltionship between Applied Pressure nd Stedystte Angle of Wrist 4 Int J Adv Robotic Sy, 22, Vol. 9, 59:22
5 5.2 Severl Motions of Pneumtic Wrist After pplying initil pressure ( kp), we chnged the pplied pressure by 5 kp in stircse pttern. (Fig. ) The results of plmr flexion/dorsl flexion nd rdil devition/ulnr devition re shown in the left nd right grphs, respectively, in Fig. 2. In these figures, the horizontl xis is pplied pressure nd verticl xis is stedy stte wrist ngle. These figures indicte tht both motions hve hysteresis chrcteristics. This mens tht the ngle of the wrist vries in spite of the sme pressure being pplied depending on the context. Moreover, they indicte tht chrcteristics chnge depending on the ctionl direction of the wrist. Using these chrcteristics, we ttempted to model the wrist. We put this hysteresis loop into four segments. The right nd left segments in the hysteresis loop re defined s lines nd 2, respectively. compred the results with those from the experiment. The results of plmr flexion/dorsl flexion nd rdil devition/ulnr devition re shown in the left nd right grphs, respectively, in Fig. 3. The results of rdil devition/ulnr devition were less coincident with the experiment dt thn those of plmr flexion/dorsl flexion. This is becuse errors were generted when we pproximted the hysteresis model with four segments in rdil devition/ulnr devition. However, in both motions, the hysteresis model ws relevnt enough to vlidte the simultion. Therefore, the control system ws constructed by dopting these models s pneumtic wrist model. 2 Lines nd 2 re obtined when the wrist moves in the plus direction (dorsl flexion or ulnr devition) nd the minus direction (plmr flexion or rdil devition), respectively. The stright line trnsits in constnt slope between lines nd For plmr flexion/dorsl flexion, the lines re expressed s follows:.378p P 25.7 ( line) ( line2). (7) The slope of the stright line tht trnsits between the lines is determined to be.83. For rdil devition/ulnr devition, the lines re expressed s below:.28p P 7.8 ( line) ( line2). (8) The slope of the stright line tht trnsits between the lines is determined to be.557. nd re the ngle of the wrist. Therefore, in this reserch, we nme the model hysteresis model. Moreover, the initil motion model nd the trnsient property of the wrist re dded to the hysteresis model. The trnsient property is expressed by the first order lg model. G ( s). 22s. (9) The pneumtic wrist model includes this trnsient property. The electro pneumtic regultor model nd the wrist model were combined nd nmed the wrist drive system. We rn simultion of this system nd Figure. Reltionships between Applied Pressure nd Time Figure 2. Hysteresis Loop of Pneumtic Wrist Motions Sho Med, Nobutk Tsujiuchi, Tkyuki Koizumi, Mitsums Sugiur nd Hiroyuki Kojim: Development nd Control of Pneumtic Robot Arm for Industril Fields 5
6 Figure 3. of Pneumtic Wrist Motions 6. Controllers 6. PI Controller After it ws provided with constnt pressure, the pneumtic wrist did not necessrily revert to the first position even though the previous pressure is repplied. This ws becuse pneumtic ctutors hve hysteresis chrcteristics. To mke up for this phenomenon, we controlled this wrist with PI controller. The control output is expressed s follows: V control k e k edt. () p where V is the initil voltge. In this reserch, becuse the wrist is moved by the ctutors tht hve bout kp pplied, V ws determined to be 2.. The first term on the right hnd side in this eqution is component tht is proportionl to devitions nd genertes n output depending on the devition. The second is integrl clculus of devitions, which helps to decrese stedystte error. The control performnce of PI controller ws determined by two kinds of gin k p nd k i. To determine these gins, the simultions were run with the control model i V discussed erlier. We constructed the feedbck systems with PI controller by creting the control model in MATLAB/Simulink. To determine the prmeters, the control simultion ws run with step signl (5 deg). The restrint conditions of the simultions were s follows: mx. 5 ref. () mxv control 4.. (2) J e 2 dt. (3) where mx is the mximl vlue of the wrist ngle nd ref is the ngulr trget vlue in the simultion. Eq. nd Eq. 2 re respectively the conditions of the overtking nd sturtion of the pneumtic wrist. Finlly we wnt to obtin control gin tht shrinks J in Eq. 3. For severl motions, simultion, ref is 5 deg. Through this k p ws determined to be.8 nd ki.4 for plmr flexion/dorsl flexion. For rdil devition/ulnr devition, k p ws determined to be. nd ki Control s We imed to keep the wrist constnt by inputting step signl (5 deg). We used PI controller s the control system. 7. Plmr Flexion Dorsl Flexion Fig. 4 shows the plmr flexion/dorsl flexion experimentl nd simultion results. This figure shows tht experimentl results re similr to the simultion results, therefore, the model could precisely express the plmr flexion/dorsl flexion Figure 4. Results of Fixed Commnd Control (Plmr Flexion/Dorsl Flexion) 6 Int J Adv Robotic Sy, 22, Vol. 9, 59:22
7 7.2 Rdil Devition Ulnr Devition Fig. 5 shows the rdil devition/ulnr devition experimentl nd simultion results. This figure shows tht there re errors t bout 6 sec between the experimentl results nd the simultion results. This is becuse of the errors tht were generted by linerizing the hysteresis loop. In spite of these errors, becuse control results required simultion conditions, sufficient control results could be obtined Figure 5. Results of Fixed Commnd Control (Rdil Devition/Ulnr Devition) 8. Conclusion In this reserch, we developed system with pneumtic robot rm for ppliction to mteril hndling in industril fields. We constructed the control system of the robot s wrist nd tested it in control experiment. The following conclusions were drwn: ) We tested n electro pneumtic regultor nd the chrcteristics were expressed with model using vrible P controller. 2) For severl motions, performnce chrcteristics of the wrist re expressed with model tht ws obtined from comprehending its hysteresis chrcteristics nd trnsient properties. 3) We constructed feedbck control tht included the electro pneumtic regultor s model nd pneumtic wrist s model. Then, we designed PI controller through simultions. 4) The controlled experiment of the designed controller indicted tht experimentl results could be obtined tht mtch simultion results.. s [] T. Yukw nd H. Okno, Trends nd future of robots for medicl nd welfre uses. Development of robotics for medicl nd welfre uses in Akit Prefecture, Jpn, Metls Science & Technology, Vol.76 No. pp.4 6 (26). [2] K. Tmki nd SY Nof, Design method of robot kitting system for flexible ssembly, Robotics nd Autonomous Systems, Vol.8, No.4, pp , (99). [3] B. Aksoy nd AY. Orbk, Reducing the Quntity of Reworked Prts in Robotic Arc Welding Process, Qulity nd Relibility Engineering Interntionl, Vol.25, No.4, pp (29). [4] T. Bob, Flexible nd sustinble mterils hndling, Modern Mteril Hndling, Vol.64, No., pp.27 28, (29). [5] M. Ejiri nd S. Kshiok, H. Ued, The ppliction of imge processing technology to industril utomtion, Computers in Jpnese Industry, Vol.5 No.2, pp.7 3 (984). [6] N. Tsujiuchi, T.Koizumi, S. Nishino, H. Komtsubr, T. Kudwr, M.Hirno, Development of Pneumtic Robot Hnd nd Construction of Mster Slve System, Journl of System Design nd Dynmics, Vol. 2, pp.36 35, (28). [7] RB. Wiener nd WA. Cebuhr, Nonliner Compenstion for Pneumtic Actutors with Hysteresis, IEEE Control Systems Mgzine, Vol.25, No.6, pp.32 44, (25) [8] S. Željko nd H. Srecko, Design nd Control of Mnipultor Arm Driven by Pneumtic Muscle Actutors, Control nd Automtion, 28 6th Mediterrnen Conference on, pp , (28). [9] CP. Chou nd B. Hnnford, Mesurement nd ing of McKibben Pneumtic Artificil Muscles, IEEE Trns. Robot Autom.,Vol.2 No. pp.9 2, (996). [] N. Tsujiuchi, T. Koizumi, S. Shiri, T. Kudwr, nd Y. Ichikw, Development of low pressure driven pneumtic ctutor nd its ppliction to robot hnd, The 32nd Annul Conference of the IEEE, pp , (26). [] U. Tsch, R. Melmed nd TJ. Grrison, Development of verstile multiple prehension, complince controlled robotic end effector, ASME DE, Vol., No.Vol.2, pp.25 29, (987). 9. Acknowledgments This study ws prtilly supported by Grnt in Aid for Scientific Reserch (A)(232464), Jpn Society for the Promotion of Science. Sho Med, Nobutk Tsujiuchi, Tkyuki Koizumi, Mitsums Sugiur nd Hiroyuki Kojim: Development nd Control of Pneumtic Robot Arm for Industril Fields 7
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