CONTROL SYSTEM OF DELTA MANIPULATOR WITH PNEUMATIC ARTIFICIAL MUSCLES

Abstract eng:
A 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.

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