The application of a pneumatic gantry robot to contour tracking is examined. A hybrid controller is structured to control the contact force and the tangential velocity, simultaneously. In a previous study, experimental contour tracking results for the robot were obtained with electronic proportional pressure control (PPC) valves. The results demonstrated the potential of pneumatic actuation for contour tracking applications. In another study it was found that improvement in performance was limited by system lag and Coulomb friction. A neural network (NN) compensator was developed to counter both effects. Simulation results demonstrated the effectiveness of the NN compensator. Although improvement in performance with NN compensation was significant, this was offset by the requirement for substantive design effort. This paper shows experimentally that equally significant improvement can be achieved by switching from PPC valves to proportional flow control (PFC) valves. The PFC approach requires less design effort.
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ASME 2009 Dynamic Systems and Control Conference
October 12–14, 2009
Hollywood, California, USA
Conference Sponsors:
- Dynamic Systems and Control Division
ISBN:
978-0-7918-4893-7
PROCEEDINGS PAPER
Hybrid Control of a Pneumatic Gantry Robot for Contour Tracking: Proportional Pressure Versus Proportional Flow Control
Mohammed Abu-Mallouh,
Mohammed Abu-Mallouh
Hashemite University, Zarqa, Jordan
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Brian Surgenor,
Brian Surgenor
Queen’s University, Kingston, ON, Canada
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Sasan Taghizadeh
Sasan Taghizadeh
Queen’s University, Kingston, ON, Canada
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Mohammed Abu-Mallouh
Hashemite University, Zarqa, Jordan
Brian Surgenor
Queen’s University, Kingston, ON, Canada
Sasan Taghizadeh
Queen’s University, Kingston, ON, Canada
Paper No:
DSCC2009-2665, pp. 855-862; 8 pages
Published Online:
September 16, 2010
Citation
Abu-Mallouh, M, Surgenor, B, & Taghizadeh, S. "Hybrid Control of a Pneumatic Gantry Robot for Contour Tracking: Proportional Pressure Versus Proportional Flow Control." Proceedings of the ASME 2009 Dynamic Systems and Control Conference. ASME 2009 Dynamic Systems and Control Conference, Volume 2. Hollywood, California, USA. October 12–14, 2009. pp. 855-862. ASME. https://doi.org/10.1115/DSCC2009-2665
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