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S. Díaz ; C. Gutiérrez ; Y. Ledeneva ; C. Hernández ; D. Rodríguez ; R. Lemus ;Journal of Applied Research and Technology 2014, 12 (5)

Author: F. Escobar

Source: http://www.redalyc.org/


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Journal of Applied Research and Technology ISSN: 1665-6423 jart@aleph.cinstrum.unam.mx Centro de Ciencias Aplicadas y Desarrollo Tecnológico México Escobar, F.; Díaz, S.; Gutiérrez, C.; Ledeneva, Y.; Hernández, C.; Rodríguez, D.; Lemus, R. Simulation of Control of a Scara Robot Actuated by Pneumatic Artificial Muscles Using RNAPM Journal of Applied Research and Technology, vol.
12, núm.
5, octubre, 2014, pp.
939-946 Centro de Ciencias Aplicadas y Desarrollo Tecnológico Distrito Federal, México Available in: http:--www.redalyc.org-articulo.oa?id=47432518012 How to cite Complete issue More information about this article Journals homepage in redalyc.org Scientific Information System Network of Scientific Journals from Latin America, the Caribbean, Spain and Portugal Non-profit academic project, developed under the open access initiative   Simulation of Control of a Scara Robot Actuated by Pneumatic Artificial Muscles Using RNAPM F.
Escobar*, S.
Díaz, C.
Gutiérrez, Y.
Ledeneva, C.
Hernández, D.
Rodríguez and R.
Lemus Group of Systems Engineering and Robotics Instituto Tecnológico de Toluca Metepec, Estado de México, México jf.escobar.a@gmail.com ABSTRACT This paper describes the simulation of movement control of a one-degree-of-freedom articulated robot arm SCARA actuated by a pair of McKibben pneumatic artificial muscles.
The pneumatic artificial muscle is the actuator and emulates the behavior of biological muscles; due to its nonlinear behavior, there is also a need to develop control systems for robot arms using this type of actuator.
Research begins with the transfer function that represents, in mathematical language, the movement of the robot arm’s joints; this allows using a PID controller on the transfer function and generating data to train the Multilayer Perceptron Artificial Neural Network (RNAPM).
So far, the PID control system has been able to control the movement of robot arms but, based on experimental tests, the RNAPM has prove...





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