Design and Control of a Sleeve Muscle-Actuated Robotic Elbow

2014 ◽  
Vol 136 (4) ◽  
Author(s):  
Tad A. Driver ◽  
Xiangrong Shen
Keyword(s):  
Range Of Motion ◽  
Sliding Mode ◽  
Control Process ◽  
Good Control ◽  
Peak Torque ◽  
Step Response ◽  
Load Bearing ◽  
Pneumatic Muscle ◽  
Control Approach ◽  
And Control

This paper describes the design and control of a robotic elbow system, which is actuated with a novel sleeve muscle actuator. The sleeve muscle is a significant step forward from the traditional pneumatic muscle, and provides a substantially improved performance through a fundamental structural change. Specifically, the sleeve muscle incorporates a cylindrical insert to the center of the pneumatic muscle, which eliminates the central portion of the internal volume. As a result of this change, the sleeve muscle provides multiple advantages over the traditional pneumatic muscle, including the increased force capacity over the entire range of motion, reduced energy consumption, and expedited dynamic response. Furthermore, utilizing the load-bearing tube as the insert, the sleeve muscle enables an innovative “actuation-load bearing” structure, which generates a highly compact robotic system to mimic the structure and functionality of biological limbs. The robotic elbow design in this paper serves an example that shows the design and control process of a robotic joint in this integrated structure. This robotic elbow provides a range of motion of 110 deg, approximately 80% of that for a human elbow, and an average torque capacity that exceeds the peak torque of the human elbow. The servo control capability is provided with a model-based sliding-mode control approach, which is able to provide good control performance in the presence of disturbances and model uncertainties. This controller is implemented on the robotic elbow prototype, and the effectiveness was demonstrated with step response and sinusoidal tracking experiments.

Application of PID in Controllable Pitch Propeller of a Multipurpose Ocean Tug

2013 ◽  
Vol 464 ◽  
pp. 253-257
Author(s):  
Hui Fang Chen
Keyword(s):  
Control System ◽  
Automatic Control ◽  
Automatic Control System ◽  
High Reliability ◽  
Control Process ◽  
Good Control ◽  
Control Performance ◽  
Hardware Configuration ◽  
Design Idea ◽  
And Control

This paper takes the automatic control system of controllable pitch propeller in a multipurpose ocean tug as an example to describe the application of the S7-200 series PLC in the control system of 4500 horse power controllable pitch propeller in detail. The principle of control system is addressed, as well as the hardware configuration, the design idea of the main software and control process. The system shows high reliability, accuracy and good control performance in practical in practical running.

Design and Control of a Compact and Flexible Pneumatic Artificial Muscle Actuation System: Part Two—Robust Control

2011 ◽  
Author(s):  
Sai-Kit Wu ◽  
Garrett Waycaster ◽  
Tad Driver ◽  
Xiangrong Shen
Keyword(s):  
Robust Control ◽  
Nonlinear Model ◽  
Sliding Mode ◽  
Artificial Muscle ◽  
Control Approach ◽  
Actuation System ◽  
Highly Nonlinear ◽  
Pressure Dynamics ◽  
System Part ◽  
And Control

A robust control approach is presented in this part of the paper, which provides an effective servo control for the novel PAM actuation system presented in Part I. Control of PAM actuation systems is generally considered as a challenging topic, due primarily to the highly nonlinear nature of such system. With the introduction of new design features (variable-radius pulley and spring-return mechanism), the new PAM actuation system involves additional nonlinearities (e.g. the nonlinear relationship between the joint angle and the actuator length), which further increasing the control difficulty. To address this issue, a nonlinear model based approach is developed. The foundation of this approach is a dynamic model of the new actuation system, which covers the major nonlinear processes in the system, including the load dynamics, force generation from internal pressure, pressure dynamics, and mass flow regulation with servo valve. Based on this nonlinear model, a sliding mode control approach is developed, which provides a robust control of the joint motion in the presence of model uncertainties and disturbances. This control was implemented on an experimental setup, and the effectiveness of the controller demonstrated by sinusoidal tracking at different frequencies.

Design and Control of a Frog-Inspired Swimming Leg Powered by Pneumatic Muscle

2016 ◽  
Author(s):  
Jizhuang Fan ◽  
Gangfeng Liu ◽  
Huan Wang ◽  
Wei Zhang ◽  
Yanhe Zhu
Keyword(s):  
Dynamic Model ◽  
Step Response ◽  
Joint Control ◽  
Pneumatic Muscle ◽  
Experiment Platform ◽  
Pneumatic Muscles ◽  
Ankle Joints ◽  
Self Tuning ◽  
And Control ◽  
Swimming Leg

According to the shortages of previous generation of frog inspired robot, antagonistic joint based frog inspired leg was designed. With the multi-DOFs of hip, knee and ankle, the designed leg was able to perform various frog swimming modes. The dynamic model of antagonistic joint based on advanced pneumatic muscle model was established in MATLAB/Simulink environment. Besides, the servo control strategy of joint angle was studied based on the dynamic model of antagonistic joint. The PID and self-tuning fuzzy control were utilized to control the antagonistic joint. According to different swimming modes, joint trajectories of hip, knee and ankle were created by inverse kinematics based on the frog swimming mechanism. Therefore, the leg was controlled by the separated controls of hip, knee and ankle joints. Feasibility of pneumatic antagonistic joint control was validated via step response experiments with different loads. Finally, the experiment platform was established to carry swimming experiments with the developed frog-inspired swimming leg. The feasibility of antagonistic frog inspired swimming leg driven by pneumatic muscles was validated.

Incidence of Asymptomatic, Nontraumatic Unilateral Knee Hyperextension in the High School Athlete

1996 ◽  
Vol 5 (4) ◽  
pp. 287-292
Author(s):  
George A. Arangio ◽  
Marie St. Amour-Myers ◽  
James Reed
Keyword(s):  
High School ◽  
Range Of Motion ◽  
Peak Torque ◽  
Left Knee ◽  
Control Group ◽  
Control Groups ◽  
Anterior Translation ◽  
Significant Difference ◽  
Posterior Translation ◽  
And Control

Four hundred sixty-seven high school athletes were screened in apreparticipation athletic physical. Forty-six (9.8%) of these athletes presented with asymptomatic, nontraumatic unilateral hyperextension. Twenty-three athletes were reexamined and compared to a normal control group. A 2.5-cm, statistically significant heel-to-heel difference was recorded in the hyperextension group. Between the involved hyperextended and uninvolved legs, there were differences in average range of motion (132.04° vs. 130.74°, respectively), average manual anterior translation by KT-1000 (5.39 mm vs. 5.15 mm, respectively), average posterior translation (2.07 mm vs. 2.00 mm, respectively), average peak quadriceps torque (86.25 ft-lb vs. 84.06 ft-lb, respectively), and hamstring average peak torque (53.89 ft-lb vs. 52.93 ft-lb, respectively), though these differences were not statistically significant. In the control group, there was no heel-to-heel difference in the right versus the left knee. Heel-to-heel difference between the experimental and control groups was statistically significant. There was no statistically significant difference between range of motion, anterior translation, or posterior translation between the experimental and control groups.

A Unified Force Controller for a Proportional-Injector Direct-Injection Monopropellant-Powered Actuator

2005 ◽  
Vol 128 (1) ◽  
pp. 159-164 ◽  
Author(s):  
Kevin B. Fite ◽  
Jason E. Mitchell ◽  
Eric J. Barth ◽  
Michael Goldfarb
Keyword(s):  
Sliding Mode ◽  
Direct Injection ◽  
Sliding Mode Controller ◽  
Nonlinear Controller ◽  
Single Input Single Output ◽  
Control Approach ◽  
Single Output ◽  
Human Scale ◽  
Actuation System ◽  
And Control

This paper describes the modeling and control of a proportional-injector direct-injection monopropellant-powered actuator for use in power-autonomous human-scale mobile robots. The development and use of proportional (as opposed to solenoid) injection valves enables a continuous and unified input/output description of the device, and therefore enables the development and implementation of a sliding-mode-type controller for the force control of the proposed actuator, which provides the stability guarantees characteristic of a sliding-mode control approach. Specifically, a three-input, single-output model of the actuation system behavior is developed, which takes a nonlinear non-control-canonical form. In order to implement a nonlinear controller, a constraint structure is developed that effectively renders the system single input, single output, and control canonical, and, thus, of appropriate form for the implementation of a sliding-mode controller. A sliding-mode controller is then developed and experimentally implemented on the proposed actuator. Experimental results demonstrate closed-loop force tracking with a saturation-limited bandwidth of approximately 6Hz.

Nonlinear Modeling and Control of a 3 DOF Helicopter

2012 ◽  
Author(s):  
A. Chriette ◽  
F. Plestan ◽  
M. Odelga
Keyword(s):  
Pitch Angle ◽  
Sliding Mode ◽  
Nonlinear Modeling ◽  
Modeling And Control ◽  
Control Approach ◽  
Attitude Angle ◽  
Controller Gain ◽  
Online Adaptation ◽  
Twisting Algorithm ◽  
And Control

This paper presents a novel autopilot for a 3D helicopter. From desired trajectories defined by the user for elevation and travel angles, the autopilot is computing the desired trajectory of the pitch angle. Furthermore, the autopilot allows to decouple the system and to define “virtual” inputs in order to separately design controllers for each attitude angle. Travel and elevation controllers are based on adaptive version of super-twisting algorithm: this class of controllers keeps the robustness feature of sliding mode while reducing the well-known drawback of such control approach, the chattering, thanks to the online adaptation of the controller gain.

scholarly journals Design, analysis, and control of a cable-driven parallel platform with a pneumatic muscle active support

Robotica ◽  
2015 ◽  
Vol 35 (4) ◽  
pp. 744-765 ◽  
Author(s):  
Xingwei Zhao ◽  
Bin Zi ◽  
Lu Qian
Keyword(s):  
Screw Theory ◽  
Sliding Mode ◽  
The Body ◽  
Sliding Mode Controller ◽  
Pd Controller ◽  
Pneumatic Muscle ◽  
Parallel Platform ◽  
Stiffness Characteristics ◽  
The Stability ◽  
And Control

SUMMARYThe neck is an important part of the body that connects the head to the torso, supporting the weight and generating the movement of the head. In this paper, a cable-driven parallel platform with a pneumatic muscle active support (CPPPMS) is presented for imitating human necks, where cable actuators imitate neck muscles and a pneumatic muscle actuator imitates spinal muscles, respectively. Analyzing the stiffness of the mechanism is carried out based on screw theory, and this mechanism is optimized according to the stiffness characteristics. While taking the dynamics of the pneumatic muscle active support into consideration as well as the cable dynamics and the dynamics of the Up-platform, a dynamic modeling approach to the CPPPMS is established. In order to overcome the flexibility and uncertainties amid the dynamic model, a sliding mode controller is investigated for trajectory tracking, and the stability of the control system is verified by a Lyapunov function. Moreover, a PD controller is proposed for a comparative study. The results of the simulation indicate that the sliding mode controller is more effective than the PD controller for the CPPPMS, and the CPPPMS provides feasible performances for operations under the sliding mode control.

A Pneumatic Artificial Muscle Actuated Above-Knee Prosthesis

2010 ◽  
Author(s):  
Garrett Waycaster ◽  
Sai-Kit Wu ◽  
Xiangrong Shen
Keyword(s):  
Sliding Mode ◽  
Mechanical Design ◽  
Knee Prosthesis ◽  
Artificial Muscle ◽  
Torque Control ◽  
Stair Climbing ◽  
Pneumatic Artificial Muscle ◽  
Control Approach ◽  
Energy Consuming ◽  
And Control

This paper describes the mechanical design and control approach for an above-knee (AK) prosthesis actuated by pneumatic artificial muscle. Pneumatic artificial muscle (PAM) affords great potential in prosthetics, since this type of actuator features a high power density, and similar characteristics to human muscles. However, there is no application of PAM in AK prosthetics in existing literature to the best knowledge of the authors. In this paper, a design of the prosthesis is presented, which provides sufficient actuation torque for the knee joint in energy consuming locomotive functions such as fast walking and stair climbing. The corresponding control approach is also presented, which combines an impedance-based locomotive controller with a lower-level sliding-mode torque control approach. Experiments on the proposed AK prosthesis have also been conducted to demonstrate the ability to mimic normal gait characteristics.

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