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 en_US
ISSN 1424-8239;1424-8220
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 是
國別 CHE
公開徵稿
出版型式 ,電子版,紙本
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機構典藏連結 ( http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/123243 )

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