Optimal design of a measurement system for the calibration of a flexible pneumatic actuator

Author

Belforte, G. ; Dabbene, F. ; Gay, P.

Author_Institution

Dipartimento di Autom. e Inf., Politecnico di Torino, Italy

Volume

1

fYear

1998

fDate

1-4 Sep 1998

Firstpage

532

Abstract

The design of a measurement system to be used for the calibration of a flexible pneumatic actuator is considered. In this extent it is necessary to have an independent measurement system that can measure the position of the end effector. In principle the position of the end effector can be obtained in 3D space, if three distances l₁, l₂ and l₃ from three known points (not in a line) are given. However, in practice the three distances are measured with errors and the corresponding position of the end effector itself is affected by the error. The aim of this work is to define which are the best positions of the points in order to obtain the smallest uncertainties in the determination of the position of the end effector of the flexible pneumatic actuator when the distances l₁, l ₂ and l₃ are known with a given tolerance

Keywords

actuators; calibration; design of experiments; measurement systems; optimisation; position measurement; calibration; deterministic uncertainty; flexible pneumatic actuator; measurement system; optimal experiment design; optimisation; position measurement; tolerance; Calibration; End effectors; Iron; Pneumatic actuators; Polynomials; Position measurement; Pressure control; Prototypes; Rubber;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Applications, 1998. Proceedings of the 1998 IEEE International Conference on

Conference_Location

Trieste

Print_ISBN

0-7803-4104-X

Type

conf

DOI

10.1109/CCA.1998.728506

Filename

728506