Artificial Intelligence Applied into Pneumatic Flexible Manipulator

• Published in: 2008 Seventh Mexican International Conference on Artificial Intelligence pp. 339 - 345
• Main Authors: Ramos-Arreguin, J.-M., Ortega, J.C.P., Gorrostieta, E., de Jesus Romero-Troncoso, R.
• Format: Conference Proceeding
• Language: English
• Published: IEEE 01-10-2008
• Subjects: adaptive process; Artificial intelligence; Displacement control; Feedback; flexible manipulator; Fuzzy control; Fuzzy logic; Manipulators; PID; pneumatic actuator; Pneumatic actuators; Proposals; Robots; Three-term control
• ISBN: 0769534414; 9780769534411
• DOI: 10.1109/MICAI.2008.76

Several researches with flexible manipulator robot had been developed using an electrical actuator while other research works deal with pneumatic control, but both investigation lines had been used in separate way. Our goal is simulate the control position angle for the flexible arm, limited to one degree of freedom. We propose an interaction between the pneumatic control and the flexible manipulator robot, being this, the original part of the present work. In this proposal, a speed feedback is used for control position, taken from the pneumatic actuator displacement. We use a fuzzy logic algorithm to adjust the control values, getting a fuzzy algorithm with better results than classic control PID. The project is focused to the engineering application in pneumatic control and flexible manipulators. Result shows a soft movement behavior when speed feedback is used, combined with fuzzy logic, let us to get better results than the classic control approach.