Online tuning gain scheduling MIMO neural PID control of the 2-axes pneumatic artificial muscle (PAM) robot arm

2010 ◽  
Vol 37 (9) ◽  
pp. 6547-6560 ◽  
Author(s):  
Ho Pham Huy Anh
Keyword(s):  
Pid Control ◽  
Artificial Muscle ◽  
Gain Scheduling ◽  
Pneumatic Artificial Muscle ◽  
Robot Arm ◽  
Online Tuning

scholarly journals The Design and Implementation of a Single-Actuator Soft Robot Arm for Lower Back Pain Reduction

2020 ◽  
Vol sceeer (3d) ◽  
pp. 25-29
Author(s):  
Alaa Al-Ibadi
Keyword(s):  
Back Pain ◽  
Lower Back Pain ◽  
Artificial Muscle ◽  
Soft Robot ◽  
Pneumatic Artificial Muscle ◽  
Robot Arm ◽  
Design And Implementation ◽  
Lower Back ◽  
The People ◽  
High Degree

This paper presents a simple and fast design and implementation for a soft robot arm. The proposed continuum arm has been built by a single self-bending contraction actuator (SBCA) with two-fingers soft gripper. Because of the valuable advantages of the pneumatic artificial muscle (PAM), this continuum arm provides a high degree of safety to individuals. The proposed soft robot arm has a bending behaviour of more 180° at 3.5 kg, while, its weight is 0.7 kg. Moreover, it is designed to assist the people by reducing the number of backbends and that leads to a decrease in the possibility of lower back pain.

Pneumatic Artificial Muscle Development and Manufacturing Process and Verification Testing for Space Flight Application

2019 ◽  
Author(s):  
Christopher J. Netwall ◽  
James P. Thomas ◽  
Michael S. Kubista ◽  
Kerry A. Griffith ◽  
Christopher Kindle ◽  
...  
Keyword(s):  
Space Flight ◽  
Muscle Development ◽  
Performance Metrics ◽  
Artificial Muscle ◽  
Degree Of Freedom ◽  
Robotic Arm ◽  
Naval Research ◽  
Pneumatic Artificial Muscle ◽  
Robot Arm ◽  
Space Applications

Abstract The U.S. Naval Research Laboratory (NRL) has been developing a space-rated 7 degree of freedom (DOF) robot arm with a high payload-to-mass ratio as an alternative design to motor-gear driven robotic manipulators. The robot arm employs antagonistic pairs of pneumatic artificial muscle (PAM) actuators to control each degree-of-freedom (DOF) to achieve large force outputs relative to the PAM component masses. A novel feature of the NRL PAM actuator was the integration of the pneumatic control components inside the pressure-bladder, which not only reduces the volume of the robotic arm hardware but also reduces the pressurized-gas actuation volume in the PAM enabling significant reductions in gas consumption during actuation. This multifunctional design enables reductions in launch-weight costs and increases in operational endurance for space applications. The integration of these PAMs into a well-designed robotic-arm structure, in tandem with a newly developed control algorithm, has the potential to exceed the performance metrics of traditional motor-driven robot arms. This paper describes the development of the improved efficiency PAM design that is advancing this technology towards space flight readiness.

Pneumatic Artificial Muscle Actuators With Integrated Controls for Space Flight Applications

2019 ◽  
Author(s):  
Christopher J. Netwall ◽  
James P. Thomas ◽  
Michael S. Kubista ◽  
Kerry A. Griffith ◽  
Christopher Kindle ◽  
...  
Keyword(s):  
Space Flight ◽  
Performance Metrics ◽  
Artificial Muscle ◽  
Degree Of Freedom ◽  
Robotic Arm ◽  
Naval Research ◽  
Pneumatic Artificial Muscle ◽  
Robot Arm ◽  
Space Applications ◽  
Muscle Actuators

Abstract The U.S. Naval Research Laboratory (NRL) has been developing a space-rated 7 degree of freedom (DOF) robot arm with a high payload-to-mass ratio as an alternative design to motor-gear driven robotic manipulators. The robot arm employs antagonistic pairs of pneumatic artificial muscle (PAM) actuators to control each degree-of-freedom (DOF) to achieve large force outputs relative to the PAM component masses. A novel feature of the NRL PAM actuator was the integration of the pneumatic control components inside the pressure-bladder, which not only reduces the volume of the robotic arm hardware but also reduces the pressurized-gas actuation volume in the PAM enabling significant reductions in gas consumption during actuation. This multifunctional design enables reductions in launch-weight costs and increases in operational endurance for space applications. The integration of these PAMs into a well-designed robotic-arm structure, in tandem with a newly developed control algorithm, has the potential to exceed the performance metrics of traditional motor-driven robot arms. This paper describes the development of the improved efficiency PAM design that is advancing this technology towards space flight readiness.

PID Control of a Parallel Vibration Isolation System Based on Pneumatic Artificial Muscle

2014 ◽  
Vol 1061-1062 ◽  
pp. 899-903
Author(s):  
Yan Bin Liu ◽  
Jia Jia Ma ◽  
Chen Xu Yin
Keyword(s):  
Pid Control ◽  
Vibration Isolation ◽  
Passive Control ◽  
Artificial Muscle ◽  
Frequency Effect ◽  
Measuring Instruments ◽  
Pneumatic Artificial Muscle ◽  
Isolation System ◽  
Vibration Isolation System ◽  
Precision Measuring

In the ultra precision measuring and machining, precision measuring instruments and precision accuracy are not only related to the precision of the instrument itself, the vibration from the surrounding environment, and many other factors also determine the accuracy of the measurement and processing. In order to solve the micro-amplitude vibration and shock proof problem of high precision equipment, the article adopted the active vibration isolation technology to build the vibration isolation experiment system based on the pneumatic artificial muscle as the action, according to the characteristics of the vibration isolation system and performance requirements, The experiment was completed by using PID control algorithm. By comparing with passive control, the results show that the vibration isolation system has good broadband vibration isolation effect, in the low frequency, effect is remarkable. This study laid a foundation for further control of pneumatic muscle in isolation system.

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