Design and control of a manipulator arm driven by pneumatic muscle actuators

Šitum, Željko; Herceg, Srečko

doi:10.1109/med.2008.4602136

Cited by 35 publications

(18 citation statements)

References 17 publications

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“…Fiber-reinforced gaiters are used in an antagonistic setup to create a robotic joint, see [12]. The control of single PAMs is presented in [8,13,14] and the control of drive configuration comprising two antagonistic PAMs is presented in [15][16][17][18][19][20]. Besides the configurations with identical but antagonistic working chambers, configurations with different types of antagonistic elements are also described in research.…”

Section: Related Workmentioning

confidence: 99%

Mechatronic Control System for a Compliant and Precise Pneumatic Rotary Drive Unit

Stoll

Schanz

Pott³

2019

Actuators

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Robots that enable safe human-robot collaboration can be realized by using compliant drive units. In previous works, different mechanical designs of compliant pneumatic rotary drive units with similar characteristics have been presented. In this paper, we present the overall control approach that we use to operate one of these compliant pneumatic rotary drive units. We explain the mechanical design and derive the differential equation that describes the dynamics of the system. In order to successfully operate a pneumatic drive unit with three or more working chambers, the torque specified by the controller has to be split up onto the working chambers. We transfer the well-known field-oriented control approach from electric motors to the investigated pneumatic drive unit to create such a torque mapping. Moreover, we develop optimized torque mappings that are tailored to work with this type of drive unit. Furthermore, we introduce and compare two control algorithms based on different implementations of state feedback to realize position control. Finally, we present the step responses that we achieve when we implement either one of the control algorithms in combination with the different torque mappings.

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Section: Related Workmentioning

confidence: 99%

Mechatronic Control System for a Compliant and Precise Pneumatic Rotary Drive Unit

Stoll

Schanz

Pott³

2019

Actuators

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“…Numbers have investigated the precise position control of pneumatic muscles during the past several years, too 2,4,7,8,9 . Most of them dealt with the control of single or antagonistic pneumatic muscles.…”

Section: Magyar Biomechanikai Konferencia -A-0044mentioning

confidence: 99%

Investigation and application of pneumatic artificial muscles

Sárosi¹,

Szabó²,

Gyeviki³

2010

Biomech Hung

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“…Another approach is to generate a model based on the experimental characteristics of the muscle. In [30] the transfer function of the PAM, the ratio of the pressure in the actuator and control signal on the valve is obtained from experimentally measured pressure response to a step input command.…”

Section: Proposed Concept Designmentioning

confidence: 99%

Intelligent active assistive and resistive orthotic device for knee rehabilitation

Chandrapal

Chen

2009

2009 IEEE International Conference on Control and Automation

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This paper provides an overview of the state-ofart technology behind existing active assistive / rehabilitative devices, and describes the design and features involved. A novel concept for an active assistive and resistive orthotic device utilizing pneumatic artificial muscles (PAM) is then proposed. The concept design strives to incorporate the advantages inherent in existing devices, enhanced functionalities and features. The key features discussed are portability, compliancy or backdrivability of actuators, compactness, and finally seamless integration with human muscles.

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Design and control of a manipulator arm driven by pneumatic muscle actuators

Cited by 35 publications

References 17 publications

Mechatronic Control System for a Compliant and Precise Pneumatic Rotary Drive Unit

Mechatronic Control System for a Compliant and Precise Pneumatic Rotary Drive Unit

Investigation and application of pneumatic artificial muscles

Intelligent active assistive and resistive orthotic device for knee rehabilitation

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