scholarly journals Dynamic Modeling and Motion Control of a Cable-Driven Robotic Exoskeleton With Pneumatic Artificial Muscle Actuators

IEEE Access ◽  
2020 ◽  
Vol 8 ◽  
pp. 149796-149807
Author(s):  
Chun-Ta Chen ◽  
Wei-Yuan Lien ◽  
Chun-Ting Chen ◽  
Ming-Jenq Twu ◽  
Yu-Cheng Wu
Keyword(s):  
Motion Control ◽  
Dynamic Modeling ◽  
Artificial Muscle ◽  
Pneumatic Artificial Muscle ◽  
Robotic Exoskeleton ◽  
Muscle Actuators

Energy-based Motion Control for Pneumatic Artificial Muscle-Actuated Robots With Experiments

2021 ◽  
pp. 1-1
Author(s):  
Dingkun Liang ◽  
Ning Sun ◽  
Yiming Wu ◽  
Yiheng Chen ◽  
Yongchun Fang ◽  
...  
Keyword(s):  
Motion Control ◽  
Artificial Muscle ◽  
Pneumatic Artificial Muscle

Study of Smooth and Accurate Position Controls of Pneumatic Artificial Muscle Actuators for Robotic Arms

2011 ◽  
Vol 317-319 ◽  
pp. 799-806 ◽  
Author(s):  
Yu Wang ◽  
Zhong Xiu Shi ◽  
Ji Rong Wang ◽  
Ray P.S. Han
Keyword(s):  
Angular Position ◽  
Artificial Muscle ◽  
Error Rates ◽  
Pneumatic Artificial Muscle ◽  
Position Information ◽  
Robotic Arms ◽  
Position Errors ◽  
Accurate Position ◽  
Point To Point ◽  
Muscle Actuators

This paper utilizes position errors, position error rates and payload variations as inner feedback loops for controlling the actuators of joint rotations in a pneumatic artificial muscle (PAM) driven robot. The result is an algorithm that is able to adaptively regulate input signals for the proportional pressure valve that controls the air flow to the PAM, in an attempt to better mimic the point-to-point movement of human arm. Further, the algorithm is able to utilize the angular position information from an outer feedback loop to activate/deactivate a solenoid valve for a rapid damping of the non-oscillatory motion and thereby, able to quickly and accurately bring the joints to a rest at a desired position. The proposed method appears to be effective in overcoming some of the inherent drawbacks that arise from the viscoelastic shell and air compressibility of the PAM element.

Sliding Mode Control of a 2DOF Planar Pneumatic Manipulator

2009 ◽  
Vol 131 (2) ◽  
Author(s):  
Michaël Van Damme ◽  
Bram Vanderborght ◽  
Ronald Van Ham ◽  
Björn Verrelst ◽  
Frank Daerden ◽  
...  
Keyword(s):  
Feedback Linearization ◽  
Controller Design ◽  
Sliding Mode ◽  
Artificial Muscle ◽  
System Model ◽  
Sliding Mode Controller ◽  
Pneumatic Artificial Muscle ◽  
Actuator Dynamics ◽  
Pressure Dynamics ◽  
Muscle Actuators

This paper presents a sliding mode controller for a 2DOF planar pneumatic manipulator actuated by pleated pneumatic artificial muscle actuators. It is argued that it is necessary to account for the pressure dynamics of muscles and valves. A relatively detailed system model that includes pressure dynamics is established. Since the model includes actuator dynamics, feedback linearization was necessary to design a sliding mode controller. The feedback linearization and subsequent controller design are presented in detail, and the controller’s performance is evaluated, both in simulation and experimentally. Chattering was found to be quite severe, so the introduction of significant boundary layers was required.

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.

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