Simulation of Control of a Scara Robot Actuated by Pneumatic Artificial Muscles Using RNAPM

 

F. Escobar*, S. Díaz, C. Gutiérrez, Y. Ledeneva, C. Hernández, D. Rodríguez and R. Lemus

 

Group of Systems Engineering and Robotics Instituto Tecnológico de Toluca Metepec, Estado de México, México. *jf.escobar.a@gmail.com

 

Abstract

This paper describes the simulation of movement control of a one-degree-of-freedom articulated robot arm SCARA actuated by a pair of McKibben pneumatic artificial muscles. The pneumatic artificial muscle is the actuator and emulates the behavior of biological muscles; due to its nonlinear behavior, there is also a need to develop control systems for robot arms using this type of actuator. Research begins with the transfer function that represents, in mathematical language, the movement of the robot arm's joints; this allows using a PID controller on the transfer function and generating data to train the Multilayer Perceptron Artificial Neural Network (RNAPM). So far, the PID control system has been able to control the movement of robot arms but, based on experimental tests, the RNAPM has proved to outperform the PID control's response time by up to 2.95 seconds, minimizing the angular error by 1.3° and avoiding the oscillation problem due to its continuous, constant behavior.

Keywords: Control Systems, Artificial Neural Networks, Multilayer Perceptron, Pneumatic Artificial Muscle.

 

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Acknowledgments

We would like to thank PROMEP [Program for the Improvement of the Faculty] for its support and sponsorship to carry out this research, which is part of the project "Study and Characterization of a Pneumatic Artificial Mini-Muscle Prototype under Static and Dynamic Conditions", code ITTOL-PTC-002, from the call for proposals "Support to Admit New Full-Time Professors, Call for Proposals 2009". We would also like to acknowledge DGEST's support for the approval of the project "Prototype of a virtual system of a McKibben antagonist pair of pneumatic artificial muscle mini-actuators", code TOL-DCIET-2010-102, which has been the basis to continue the research for this project.

 

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