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Test of kinematic model by pneumatic manipulator
- Authors: Gribkov A.M.1, Shilin D.V.1, Filin I.P.1
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Affiliations:
- Moscow Power Engineering Institute (National Research University)
- Issue: Vol 11, No 3-2 (2012): Special Issue
- Pages: 203-208
- Section: CONFERENCE MATERIALS
- URL: https://journals.ssau.ru/vestnik/article/view/2174
- DOI: https://doi.org/10.18287/2541-7533-2012-0-3-2(34)-203-208
- ID: 2174
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Abstract
The article is devoted to the development of a three-axis kinematic model of a pneumatic manipulator and the testing of it on a physical model. Optical rangefinders are used as position encoders. The results of physical and mathematical modeling are compared. The reachable area of the manipulator is shown. The control laws of pneumatic actuators have been built on the basis of fuzzy logic.
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About the authors
A. M. Gribkov
Moscow Power Engineering Institute (National Research University)
Author for correspondence.
Email: GribkovAM@mpei.ru
Candidate of Technical Sciences, Associate Professor
Head of the Hydro-mechanics and Hydraulic Machines
Russian FederationD. V. Shilin
Moscow Power Engineering Institute (National Research University)
Email: Deninfo@mail.ru
Post-graduate Student of the Department of Hydro-mechanics and
Hydraulic Machines
I. P. Filin
Moscow Power Engineering Institute (National Research University)
Email: citizen2c298@gmail.com
Chief Engineer of ТС RGI “MPEI-FESTO”
Russian FederationReferences
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- Известия высших учебных заведений. Машиностроение [Текст]: журнал. - М.: МГТУ им. Н. Э. Баумана, 2011. - №9. - 78 c.
- Круглов, В.В. Нечёткая логика и искусственные нейронные сети [Текст]: учеб. / В.В. Круглов. - М.: Физматлит, 2001. - 221 с.
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