000012502 001__ 12502
000012502 005__ 20160816141449.0
000012502 04107 $$aeng
000012502 046__ $$k2016-05-09
000012502 100__ $$aTakosoglu, J.E.
000012502 24500 $$aCONTROL SYSTEM OF DELTA MANIPULATOR WITH PNEUMATIC ARTIFICIAL MUSCLES

000012502 24630 $$n22.$$pEngineering Mechanics 2016
000012502 260__ $$bInstitute of Thermomechanics AS CR, v.v.i., Praha
000012502 506__ $$arestricted
000012502 520__ $$2eng$$aA project of control system and electro-pneumatic delta manipulator of three degrees of freedom with pneumatic muscle actuators was presented in this paper. Due to the features of the drives applied, the manipulator is characterised by quick action, smooth start and stop, high overload capacity as well as a great number of operating cycles in relation to traditional pneumatic cylinders. A standard PID controller was applied in the control system. The process of tuning PID controller with Ziegler-Nichols method that is based on the evaluation of the system, which is on the verge of stability, was presented herein. An analysis the quality of control for the suggested controller was conducted and the results of experimental research of positioning the effector of the delta manipulator are included as well.

000012502 540__ $$aText je chráněný podle autorského zákona č. 121/2000 Sb.
000012502 653__ $$apneumatic muscle actuator, electro-pneumatic manipulator, delta manipulator, PID controller, performance criteria.

000012502 7112_ $$aEngineering Mechanics 2016$$cSvratka, CZ$$d2016-05-09 / 2016-05-12$$gEM2016
000012502 720__ $$aTakosoglu, J.E.
000012502 8560_ $$ffischerc@itam.cas.cz
000012502 8564_ $$s758967$$uhttp://invenio.itam.cas.cz/record/12502/files/132bo_p_mct.pdf$$yOriginal version of the author's contribution as presented on CD, id 132, section MCT.
000012502 962__ $$r12369
000012502 980__ $$aPAPER