DocumentCode :
3447318
Title :
Adaptive position control of antagonistic pneumatic muscle actuators
Author :
Medrano-Cerda, Gustavo A. ; Bowler, Colin J. ; Caldwel, Darwin G.
Author_Institution :
Dept. of Electron. & Electr. Eng., Salford Univ., UK
Volume :
1
fYear :
1995
fDate :
5-9 Aug 1995
Firstpage :
378
Abstract :
Problems with the control and compliance of pneumatic systems have prevented their widespread use in advanced robotics. However, their compactness, power/weight ratio and inherent safety are factors that could potentially be exploited in sophisticated dexterous manipulator designs. These advantages have lead to the development of novel actuators such as the McKibben Muscle, Rubbertuator, Flexator, Romac and pneumatic muscle actuators (PMA). However, the nonlinearities in these systems still limit their controllability. This paper considers the development of an adaptive controller for bi-muscular PMA system. Control of these muscles is explored via adaptive pole-placement controllers. Experimental results indicate that accurate position control ±2° is feasible, with power/weight outputs in excess of 1 kW/kg at 250 kPa being possible
Keywords :
actuators; adaptive control; controllability; manipulators; nonlinear control systems; pneumatic control equipment; pole assignment; position control; 250 kPa; adaptive control; advanced robotics; antagonistic pneumatic muscle actuators; bimuscular pneumatic muscle actuators; controllability; dexterous manipulator; nonlinearities; position control; Adaptive control; Control systems; Manipulators; Muscles; Pneumatic actuators; Pneumatic systems; Position control; Programmable control; Robots; Safety;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems 95. 'Human Robot Interaction and Cooperative Robots', Proceedings. 1995 IEEE/RSJ International Conference on
Conference_Location :
Pittsburgh, PA
Print_ISBN :
0-8186-7108-4
Type :
conf
DOI :
10.1109/IROS.1995.525824
Filename :
525824
Link To Document :
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