DocumentCode
2940692
Title
A 2-sliding control for pneumatic artificial muscles
Author
Chettouh, Mourad ; Toumi, Redouane ; Hamerlain, Mustapha
Author_Institution
Univ. Saad Dahleb, Blida
fYear
2008
fDate
20-22 July 2008
Firstpage
1
Lastpage
5
Abstract
Pneumatic artificial rubber muscles (Parms) show similarity to biological muscles. A 2-sliding control technique is applied to the first two degrees of freedom of a robot actuated by such muscles. The Parms are arranged in opposite pair or antagonistic configuration. The objective is to show that without the use of the equivalent control, it is still possible to control the robot and at the same time reduce the chatter. Experimental results are presented.
Keywords
muscle; pneumatic actuators; robots; variable structure systems; 2-sliding control technique; Parms; antagonistic configuration; biological muscles; chatter reduction; pneumatic artificial rubber muscles; robot actuator; variable structure control; Actuators; Biological control systems; Control systems; Muscles; Prototypes; Robot control; Rubber; Sliding mode control; Springs; Switches; Artificial muscles; hosm; sliding mode; variable structure control;
fLanguage
English
Publisher
ieee
Conference_Titel
Systems, Signals and Devices, 2008. IEEE SSD 2008. 5th International Multi-Conference on
Conference_Location
Amman
Print_ISBN
978-1-4244-2205-0
Electronic_ISBN
978-1-4244-2206-7
Type
conf
DOI
10.1109/SSD.2008.4632867
Filename
4632867
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