Abstract
The paper deals with a SCARA-like kinematics robot arm with pneumatic actuators. Dynamic model and control system are realized in the software package Matlab Simulink. Game Go selected as experimental task. The low-level control system is implemented on microcontroller STM32F4Discovery. Machine vision is realized on Android OS using OpenCV. Computer vision system as supporting technology will be demonstrated as important part of the presentation. It is important to note, different algorithms can be implemented as manipulator software and hardware technologies. The created robot passed experimental working off which allowed to draw conclusions about the created software and hardware effectiveness in the implementation of various manipulators control algorithms.
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CITATION STYLE
Aliseychik, A., Glazunov, V., Orlov, I., Pavlovsky, V., & Shishova, M. (2016). Control Design for Pneumatic Manipulation Robot. In CISM International Centre for Mechanical Sciences, Courses and Lectures (Vol. 569, pp. 163–170). Springer International Publishing. https://doi.org/10.1007/978-3-319-33714-2_18
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