Intelligent phase plane switching control of a pneumatic muscle robot arm with Magneto-Rheological Brake

2007 ◽  
Vol 21 (8) ◽  
pp. 1196-1206 ◽  
Author(s):  
Kyoung Kwan Ahn ◽  
Nguyen Huynh Thai Chau
Keyword(s):  
Phase Plane ◽  
Switching Control ◽  
Robot Arm ◽  
Pneumatic Muscle ◽  
Magneto Rheological ◽  
Phase Plane Switching Control

Adaptive tracking control of multi-link robots actuated by pneumatic muscles with additive disturbances

Robotica ◽  
2016 ◽  
Vol 35 (11) ◽  
pp. 2139-2156 ◽  
Author(s):  
Tarapong Karnjanaparichat ◽  
Radom Pongvuthithum
Keyword(s):  
Error Bound ◽  
Sliding Mode ◽  
Reference Signal ◽  
Adaptive Controller ◽  
Time Frame ◽  
Physical Parameters ◽  
Robot Arm ◽  
Pneumatic Muscle ◽  
Adaptive Tracking Control ◽  
Pneumatic Muscles

SUMMARYIn this paper, we study the problem of adaptive position tracking for a multi-link robot driven by two opposing pneumatic muscle groups with additive disturbances. In contrast to widely used sliding mode control methods, the proposed controller is continuous and able to prevent chattering. All physical parameters of the robot and the pneumatic muscles, including pneumatic muscle coefficients, link lengths and moments of inertia are unknown and can be time-varying and the unknown additive disturbances can be discontinuous. Under these conditions, we prove that closed-loop trajectories of all of the joint positions can track any C1 joint reference signal. The joint errors will be within a prescribed error bound in a finite time. The adaptive controller only uses the reference signal, not its derivative. The continuous adaptive gain is one-dimensional. Simulations including a two-link robot arm with friction and realistic muscle models are presented to demonstrate the robustness of the adaptive control under severe changes of the system parameters. In all simulations, the joint positions can track C1 trajectories and all errors are within the prescribed error bound in the same time frame, even though the muscle parameters are vastly different.

scholarly journals An artificial flexible robot arm based on pneumatic muscle actuators

2017 ◽  
Vol 123 ◽  
pp. 00020
Author(s):  
Jyh-Chyang Renn ◽  
Bo-Han Li
Keyword(s):  
Robot Arm ◽  
Flexible Robot ◽  
Pneumatic Muscle ◽  
Muscle Actuators
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