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Redundant cascade manipulators actuated by pneumatic bellows actuators arepassively compliant, rugged and dexterous which are qualities making themexceptionally well suited for applications in agriculture. Unfortunatelybellows actuators are notoriously difficult to precisely position. This paperpresents a novel control algorithm for the control of a parallel platformactuated by pneumatic bellows actuators, which is serving as one module of acascade manipulator. The algorithm combines a feed-forward controller and avariable gain I-controller. The feed-forward controller was designed usingexperimental data and two regression steps to create a mathematicalrepresentation of the data. The gain of the I-controller depends linearly onthe total reference error, which allows the I-controller to work in concertwith the feed-forward part of the controller. The presented algorithm wasexperimentally verified and its performance was compared with two controllers,an ANFIS controller and a constant gain PID controller, to satisfactoryresults. The controller was also tested under dynamic loading conditionsshowing promising results.

Pneumatic bellows actuated parallel platform control with adjustable stiffness using a hybrid feed-forward and variable gain I-controller