Control of a Heavy-Lift Robotic Manipulator with Pneumatic Artificial Muscles
نویسندگان
چکیده
منابع مشابه
Control of a Heavy-Lift Robotic Manipulator with Pneumatic Artificial Muscles
Lightweight, compliant actuators are particularly desirable in robotic systems intended for interaction with humans. Pneumatic artificial muscles (PAMs) exhibit these characteristics and are capable of higher specific work than comparably-sized hydraulic actuators and electric motors. The objective of this work is to develop a control algorithm that can smoothly and accurately track the desired...
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Pleated pneumatic artificial muscles (PPAMs), which have recently been developed at the Vrije Universiteit Brussel, Department of Mechanical Engineering are brought forward as robotic actuators in this paper. Their distinguishing feature is their pleated design, as a result of which their contraction forces and maximum displacement are very high compared to other pneumatic artificial muscles. T...
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This work describes the implementation of Pleated Pneumatic Artificial Muscles (PPAM) into innovative robotic applications. These actuators have a very high power to weight ratio and an inherent adaptable compliance. Two applications for which these characteristics give interesting surplus values are described. Nowadays legged robots are gaining more and more interest. But most of the robots us...
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This paper describes the biped Lucy and it’s control architecture that will be used. Lucy is actuated by Pleated Pneumatic Artificial Muscles, which have a very high power to weight ratio and an inherent adaptable compliance. These characteristics will be used to let Lucy walk in a dynamically stable manner while exploiting the adaptable passive behaviour of these muscles. A quasi-static global...
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This paper presents a modified integral sliding surface, sliding mode control law for pneumatic artificial muscles. The cutoff frequency tuning parameter λ is squared to increase the gradient from absement (integral of position) to position and higher derivatives to reflect the more dominant terms in the actuator dynamics. The sliding mode controller is coupled with proportional and integral ac...
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ژورنال
عنوان ژورنال: Actuators
سال: 2014
ISSN: 2076-0825
DOI: 10.3390/act3020041