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

fYear

2007

fDate

4-6 Dec. 2007

Firstpage

35

Lastpage

39

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/ICIAFS.2007.4544777

Filename

4544777