COMPLETE DYNAMIC MODEL VALIDATION OF 3- DOF COMPLIANT MANIPULATOR WITH FLUIDIC MUSCLES

  • 1Technical University of Kosice, Faculty of Manufacturing Technologies with the Seat in Presov, Department of Industrial Engineering and Informatics, Presov, SK

Abstract

The article is devoted to the description of the validation of the dynamic model of an angular manipulator with three degrees of freedom of movement based on the chosen course of excitation of pneumatic artificial muscles from the manufacturer FESTO. The dynamic model consists of the dynamics of the manipulator arm and the dynamics of the pneumatic part of the experimental system. The motion equations were derived based on Lagrangian formalism and the dynamic of muscle contraction can be described using Newton's second law. The overall model of the system was implemented in the Matlab Simulink environment. The outputs of the validations were compared with the measured data from the real system. The observed parameter was the angle of rotation of the joint. Two statistical indicators were used to compare the simulation outputs (model) with the system outputs (measurements), namely NRMSE (Normal Root Mean Square Error) and MAE (Mean Absolute Error).

Recommended articles

CALIBRATION OF THE ROBOTIC ARM WITH CORRECTIONS USING LOCAL LINEAR NEURO-FUZZY MODELS

PETR BENES, JIRI SVEDA, JAN HLADIK, MICHAEL VALASEK, JAN PELIKAN, ZDENEK NEUSSER, ZBYNEK SIKA, MARTIN NECAS
Keywords: Robot calibration | Local linear model | Neuro-fuzzy model | parameter identification | Accuracy of machine positioning