教師資料查詢 | 類別: 期刊論文 | 教師: 李宜勳 LIN, I-HSUN (瀏覽個人網頁)

標題:Development and Control of a Pneumatic-Actuator 3-DOF Translational Parallel Manipulator with Robot Vision
學年107
學期2
出版(發表)日期2019/03/25
作品名稱Development and Control of a Pneumatic-Actuator 3-DOF Translational Parallel Manipulator with Robot Vision
作品名稱(其他語言)
著者Lian-Wang Lee; Hsin-Han Chiang; I-Hsum Li
單位
出版者
著錄名稱、卷期、頁數Sensors 19(6), 1459
摘要A vision-based three degree-of-freedom translational parallel manipulator (TPM) was
developed. The developed TPM has the following characteristics. First, the TPM is driven by three
rodless pneumatic actuators and is designed as a horizontal structure to enlarge its horizontal working
space to cover a conveyor. Then, a robot-vision system (including a webcam mounted on the TPM)
collects images of objects on the conveyor and transfers them through the LabVIEW application
programming interface for image processing. Since it is very difficult to achieve precise position
control of the TPM due to the nonlinear couplings among the robot axes, feedback linearization is
utilized to design an adaptive interval type-2 fuzzy controller with self-tuning fuzzy sliding-mode
compensation (AIT2FC-STFSMC) for each rodless pneumatic actuator to attenuate nonlinearities,
function approximation errors, and external disturbances. Finally, experiments proved that the
vision-based three degree-of-freedom TPM was capable of accurately tracking desired trajectories
and precisely executing pick-and-place movement in real time.
關鍵字interval type-2 fuzzy systems; path tracking control; parallel manipulator; rodless pneumatic actuator; robotic manipulators; robot vision
語言中文
ISSNhttps://doi.org/10.3390/s19061459
期刊性質國外
收錄於SCI;
產學合作
通訊作者I-Hsum Li
審稿制度
國別中華民國
公開徵稿
出版型式,電子版,紙本
Google+ 推薦功能,讓全世界都能看到您的推薦!