Mathematical modeling, control, computer simulation and laboratory experiments of a spatial servopneumatic parallel robot - Part I: Mathematical models, controllers, and computer Simulations

In this paper (Part I), the special construction of a controlled parallel structure, called spatial servopneumatic multi-axles test facility (MAP), will be theoretically and numerically investigated and controlled. The investigations include the following steps: (i) design of mathematical models of different complexity of both, the test facility mechanics in terms of DAEs and ODEs (a multi-body system which contains 13 rigid bodies under spatial motion, connected by joints), and the servopneumatic actuators; (ii) construction of different linear and nonlinear (model based) control algorithms; (iii) development of a computer simulation program of the MAP; and (iv) evaluation of various computer simulation runs, obtained by applying different control algorithms and spatial command-input signals. The results show that the efficiency of the control algorithms is closely related to their complexity and cost. In order to check the closeness to reality of the computer simulation results and their benefit for industrial applications, laboratory experiments must be formed with the same MAP, the same control algorithms, and applying the same command-input signals which have been used in the computer simulations. These experimental investigations will be presented in Part II of the paper.