Title :
Control of pneumatic artificial muscle for bicep configuration using IBC
Author :
Udawatta, Lanka ; Priyadarshana, PGS ; Witharana, Sanjeeva
Author_Institution :
Dept. of Electr. Eng., Moratuwa Univ., Moratuwa
Abstract :
This paper presents a control algorithm for pneumatic artificial muscles on bicep configuration. Due to the characteristics such as lower power to weight ratios, high strength and lightweight and easiness of employment, pneumatic artificial muscles have become more attractive actuators for robotics applications. The dynamics equations for bicep configuration were derived with the help of single muscle analysis. Nonlinear dynamic equation was linearized in order to derive the state space model. To obtain the desired tracking performance, inversion based control (IBC) concept was employed. Results show the effectiveness of the proposed methodology.
Keywords :
nonlinear equations; pneumatic actuators; robot dynamics; bicep configuration; inversion based control; nonlinear dynamic equation; pneumatic artificial muscle; robotics; state space model; AC motors; DC motors; Hydraulic actuators; Legged locomotion; Manipulators; Muscles; Nonlinear equations; Orbital robotics; Pneumatic actuators; Service robots;
Conference_Titel :
Information and Automation for Sustainability, 2007. ICIAFS 2007. Third International Conference on
Conference_Location :
Melbourne, VIC
Print_ISBN :
978-1-4244-1899-2
Electronic_ISBN :
978-1-4244-1900-5
DOI :
10.1109/ICIAFS.2007.4544777
