Practical Gripper Performance for Intelligent Active Force Control of a Robot Arm Actuated by Pneumatic Artificial Muscles
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چکیده
In this paper, an intelligent Active Force Control (AFC) of a single-link Pneumatic Artificial Muscle (PAM) actuated robot arm employing Fuzzy Logic (FL) element has been applied and tested through an experimental study. The robot arm is desired to move along a one radian circular trajectory as a joint angle tracking control in the wake of the introduced disturbances. To demonstrate the practicality of the robot arm, a radial gripper has been physically designed, developed and attached to the arm. The experiment was conducted using Hardware-in-the-Loop-Simulation (HILS) strategy, taking into account the variation in the payload masses.The results clearly show the capability of the proposed controller to counter the disturbances in the system effectively and robustly. Key-Words: Pneumatic artificial muscle, Single link robot arm, Active force control, Fuzzy logic, Hardware-in-the-loop simulation
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