Control and analysis of robot arm using flexible pneumatic cylinder

The main characteristics of robot are the precision work with a high degree of reliability and the repetitive over long period that makes it suitable for use in the medical field. In this paper, the control and analysis of robot arm for the human wrist rehabilitation by using flexible pneumatic cyli...

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Autores principales:	Mohd ALIFF, Shujiro DOHTA, Tetsuya AKAGI
Formato:	article
Lenguaje:	EN
Publicado:	The Japan Society of Mechanical Engineers 2014
Materias:	pneumatic robot arm flexible pneumatic cylinder rehabilitation device master-slave control analytical model on/off control valve Mechanical engineering and machinery TJ1-1570
Acceso en línea:	https://doaj.org/article/1cb3617780634dc0b96424b2d9260398
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spelling	oai:doaj.org-article:1cb3617780634dc0b96424b2d92603982021-11-26T06:12:42ZControl and analysis of robot arm using flexible pneumatic cylinder2187-974510.1299/mej.2014dr0051https://doaj.org/article/1cb3617780634dc0b96424b2d92603982014-10-01T00:00:00Zhttps://www.jstage.jst.go.jp/article/mej/1/5/1_2014dr0051/_pdf/-char/enhttps://doaj.org/toc/2187-9745The main characteristics of robot are the precision work with a high degree of reliability and the repetitive over long period that makes it suitable for use in the medical field. In this paper, the control and analysis of robot arm for the human wrist rehabilitation by using flexible pneumatic cylinder is introduced. The system consists of a slave arm, a master arm, a high-speed microcomputer, compact and inexpensive quasi-servo valves, a potentiometer and accelerometers to give the references for the attitude control. The robot arm has three degrees-of-freedom that is bending, extending and contracting. The control performances of the robot arm were investigated and the analytical model of the whole robot arm system including the flexible pneumatic cylinder, the quasi-servo valves and an embedded controller was proposed and tested for estimating the performance theoretically. We also made comparisons between the calculated and experimental results to confirm the validities of the proposed model and the identified system parameters. The results from experiments show that the proposed models accurately predict the behavior of the tested flexible robot arm using flexible pneumatic cylinders. The proposed master-slave control system has a potential for application for robot-assisted rehabilitation and training especially for human wrist.Mohd ALIFFShujiro DOHTATetsuya AKAGIThe Japan Society of Mechanical Engineersarticlepneumatic robot armflexible pneumatic cylinderrehabilitation devicemaster-slave controlanalytical modelon/off control valveMechanical engineering and machineryTJ1-1570ENMechanical Engineering Journal, Vol 1, Iss 5, Pp DR0051-DR0051 (2014)
institution	DOAJ
collection	DOAJ
language	EN
topic	pneumatic robot arm flexible pneumatic cylinder rehabilitation device master-slave control analytical model on/off control valve Mechanical engineering and machinery TJ1-1570
spellingShingle	pneumatic robot arm flexible pneumatic cylinder rehabilitation device master-slave control analytical model on/off control valve Mechanical engineering and machinery TJ1-1570 Mohd ALIFF Shujiro DOHTA Tetsuya AKAGI Control and analysis of robot arm using flexible pneumatic cylinder
description	The main characteristics of robot are the precision work with a high degree of reliability and the repetitive over long period that makes it suitable for use in the medical field. In this paper, the control and analysis of robot arm for the human wrist rehabilitation by using flexible pneumatic cylinder is introduced. The system consists of a slave arm, a master arm, a high-speed microcomputer, compact and inexpensive quasi-servo valves, a potentiometer and accelerometers to give the references for the attitude control. The robot arm has three degrees-of-freedom that is bending, extending and contracting. The control performances of the robot arm were investigated and the analytical model of the whole robot arm system including the flexible pneumatic cylinder, the quasi-servo valves and an embedded controller was proposed and tested for estimating the performance theoretically. We also made comparisons between the calculated and experimental results to confirm the validities of the proposed model and the identified system parameters. The results from experiments show that the proposed models accurately predict the behavior of the tested flexible robot arm using flexible pneumatic cylinders. The proposed master-slave control system has a potential for application for robot-assisted rehabilitation and training especially for human wrist.
format	article
author	Mohd ALIFF Shujiro DOHTA Tetsuya AKAGI
author_facet	Mohd ALIFF Shujiro DOHTA Tetsuya AKAGI
author_sort	Mohd ALIFF
title	Control and analysis of robot arm using flexible pneumatic cylinder
title_short	Control and analysis of robot arm using flexible pneumatic cylinder
title_full	Control and analysis of robot arm using flexible pneumatic cylinder
title_fullStr	Control and analysis of robot arm using flexible pneumatic cylinder
title_full_unstemmed	Control and analysis of robot arm using flexible pneumatic cylinder
title_sort	control and analysis of robot arm using flexible pneumatic cylinder
publisher	The Japan Society of Mechanical Engineers
publishDate	2014
url	https://doaj.org/article/1cb3617780634dc0b96424b2d9260398
work_keys_str_mv	AT mohdaliff controlandanalysisofrobotarmusingflexiblepneumaticcylinder AT shujirodohta controlandanalysisofrobotarmusingflexiblepneumaticcylinder AT tetsuyaakagi controlandanalysisofrobotarmusingflexiblepneumaticcylinder
_version_	1718409765098356736

Control and analysis of robot arm using flexible pneumatic cylinder

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