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Control of a Pneumatic Gantry Robot With Adaptive Neural Network Compensation

[+] Author Affiliations
Sasan Taghizadeh, Brian Surgenor

Queens University, Kingston, ON, Canada

Mohammed Abu-Mallouh

Hashemite University, Zarqa, Jordan

Paper No. DETC2010-28239, pp. 1642-1642.8; 8 pages
  • ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B
  • Montreal, Quebec, Canada, August 15–18, 2010
  • Conference Sponsors: Design Engineering Division and Computers in Engineering Division
  • ISBN: 978-0-7918-4410-6 | eISBN: 978-0-7918-3881-5
  • Copyright © 2010 by ASME


In a previous paper, the application of a pneumatic gantry robot to contour tracking was examined. A hybrid controller was structured to control the contact force and the tangential velocity, simultaneously. Performance was found to be limited by system lag and Coulomb friction. A neural network (NN) compensator was subsequently developed to counter both effects. Simulation results for straight and curved edge workpieces demonstrated the effectiveness of the NN compensator. This paper validates the results experimentally, highlights the tuning issues associated with an adaptive NN compensator, and confirms the capabilities of a pneumatic gantry robot.

Copyright © 2010 by ASME



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