Title :
Safer position control of pneumatic rubber artificial muscle actuator by passive dynamic control
Author :
Kiyota, Takanori ; Minamiyama, Yasuhiro ; Sugimoto, Noboru
Author_Institution :
Univ. of Kitakyushu, Fukuoka, Japan
Abstract :
The passive dynamic control ("PDC") is a mechanical system control method based on an inherently safe design. It positively uses passive elements (braking mechanism) whose characteristics are variable. In this paper, the PDC is applied to a pneumatic rubber artificial muscle actuator. First, the PDC pneumatic rubber artificial muscle actuator with a Magneto-Rheological brake is proposed, and its control method is described. Then, positioning control and sinusoidal follow-up control are described, and the effectiveness of the PDC is examined through experiments.
Keywords :
electroactive polymer actuators; medical control systems; pneumatic actuators; position control; artificial muscle actuator; magneto-rheological brake; mechanical system control method; passive dynamic control; pneumatic rubber; position control; positioning control; sinusoidal follow-up control; Actuators; Force; Humans; Phase change random access memory; Rubber; Safety; Valves;
Conference_Titel :
Advanced Intelligent Mechatronics (AIM), 2010 IEEE/ASME International Conference on
Conference_Location :
Montreal, ON
Print_ISBN :
978-1-4244-8031-9
DOI :
10.1109/AIM.2010.5695788
