Trajectory control of simple-structured flexible mechanism using flexible pneumatic cylinders

Robot suitable for use in therapy because its work accurate and repetitive in the long term to provide maximum benefits to the users. An innovative trajectory control for simple-structured flexible mechanism by using flexible pneumatic cylinders which can be used as rehabilitation for human wrist is introduced. The system consists of a flexible robot arm, an accelerometer, low-cost microcomputer, potentiometer and compact quasi-servo valves. The analytical model for trajectory control is proposed and then is applied on the flexible robot arm. This robot arm has three degree-of-freedom that is bending, expanding and contracting. The results from experiments presented that the trajectory control of robot arm can be realized. The results also demonstrated that the spiral shape and square shape of trajectory could be achieved by using proposed analytical model and the embedded microcontroller. Thus, this trajectory control system has a great potential for application on robot arm and can be used in rehabilitation field especially for human wrist.