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Low Cost Robotic Arm Manipulator Controller With Single Stage Fluid Valves

[+] Author Affiliations
Claudio Campana, Akin Tatoglu

University of Hartford, West Hartford, CT

Paper No. IMECE2018-88435, pp. V04BT06A034; 6 pages
doi:10.1115/IMECE2018-88435
From:
  • ASME 2018 International Mechanical Engineering Congress and Exposition
  • Volume 4B: Dynamics, Vibration, and Control
  • Pittsburgh, Pennsylvania, USA, November 9–15, 2018
  • Conference Sponsors: ASME
  • ISBN: 978-0-7918-5204-0
  • Copyright © 2018 by ASME

abstract

Piston pumps use a mechanism to create a reciprocating motion along an axis which then builds pressure in the barrel to force fluid through the pump. In general, pressure in the chamber is controlled by a heavy linear actuator to manipulate the valves at both suction and discharge points. While hydraulic actuators are strong enough to handle heavy payloads, they are not much suitable to drive arm manipulators mounted on mobile robots due to their heavy weight. To simplify the control logic more suitable for mobile robotics applications and to reduce the overall weight, we have used a smaller pump and utilized two simple trigger valves to control the stroke displacement of the extender. Since valves can only be in on and off states, a pulse width modulation (PWM) with duty cycle control is adopted. End manipulator position and velocity actuation are driven by a PI controller and maximum displacement accuracy, minimal rise time with minimum overshoot cases are studied. Experimental setup of the fluid valve control logic is explained. Both open and closed loop cases are discussed. It is shown that duty cycle control of valves can reach to a reasonable accuracy compared to the traditional linear control system with a lower weight and a simpler control logic.

Copyright © 2018 by ASME

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