Development of delta robot driven by pneumatic artificial muscles

Hirano, Junya; Tanaka, Dai; Watanabe, Takumi; Nakamura, Taro

doi:10.1109/aim.2014.6878278

Cited by 13 publications

(9 citation statements)

References 14 publications

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“…Saikawa et al applied high-intensity longitudinal reinforced Kevlar fibers outside the silicone tube to relieve the pneumatic muscle's friction and hysteresis, but it is easy to crack [13]. Likewise, Hirano et al proposed a similar straight-fiber-type artificial muscle [14,15]. In addition, Beyl et al designed a kind of novel pleated pneumatic artificial muscle (PPM) to drive a powered knee exoskeleton (KNEXO) [16,17].…”

Section: Takedownmentioning

confidence: 99%

See 1 more Smart Citation

Design and control of soft rehabilitation robots actuated by pneumatic muscles: State of the art

Liu

Zuo

Zhu

et al. 2020

Future Generation Computer Systems

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Section: Takedownmentioning

confidence: 99%

“…A straight-fiber-type PMs-actuated 3-DOF delta mechanism was developed by Chuo University, Japan (Fig. 2 (f)) [14,15]. The arms are actuated by parallel PMs through the pulley, and the end plate always remain parallel to the base plate, to achieve three translational DOFs.…”

Section: B Parallel Rehabilitation Robotsmentioning

confidence: 99%

Design and control of soft rehabilitation robots actuated by pneumatic muscles: State of the art

Liu

Zuo

Zhu

et al. 2020

Future Generation Computer Systems

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“…Lilly et al reported SMC maximum tracking errors of an angular antagonistic pair of PAMs to be 1.15 degrees with a 20 kg payload [19]. Hirano et al reported a maximum position tracking error of 1.17 mm for a PAM driven delta robot using a PI computed torque controller [20]. Sardellitti et al reported torque and stiffness SMC for an antagonistic pair of PAMs, which resulted in maximum errors of 0.12 N-m and 0.06 N-m/rad for torque and stiffness, respectively [21].…”

Section: Control Approaches For Pamsmentioning

confidence: 99%

Robust Control Law for Pneumatic Artificial Muscles

Slightam

Nagurka

2017

ASME/BATH 2017 Symposium on Fluid Power and Motion Control

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This paper presents a modified integral sliding surface, sliding mode control law for pneumatic artificial muscles. The cutoff frequency tuning parameter λ is squared to increase the gradient from absement (integral of position) to position and higher derivatives to reflect the more dominant terms in the actuator dynamics. The sliding mode controller is coupled with proportional and integral action compensation. The control system is sufficiently robust so that use of an observer and input-output feedback linearization are not required. Closed-loop control experiments are compared with traditional sliding mode controller designs presented in the literature for pneumatic artificial muscles. Experiments include the tracking of sinusoidal waves at 0.5 and 1 Hz, tracking of square-like waves with seventh-order trajectory transitions at a rate of 0.2 Hz without and with a steady-state period of 10 seconds, as well as a step input response. These experiments indicate that the control law provides similar bandwidth, tracking, and steady-state performance as approaches requiring nonlinear feedback and model observation for pneumatic artificial muscles. Experiments demonstrate an accuracy of 50 μm at steady-state with no overshoot and maximum tracking errors less than 0.4 mm for smooth square-like trajectories.

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“…Applications in multi-DOF systems further show the capabilities of model-based control techniques for prolate and oblate FFAs. A haptic device made using a delta robot driven by PFPAs implemented position and stiffness control with a PI computed torque and stiffness control method, resulting in an average maximum position error of 1.17 mm [21]. Sardellitti reported sliding mode torque and stiffness control for antagonistically actuated contrac-tile flexible pneumatic pairs that experimentally confirmed excellent tracking, i.e., maximum error of 0.12 N-m and 0.06 N-m/rad for torque and stiffness tracking, respectively [22].…”

Section: Introductionmentioning

confidence: 99%

PID Sliding Mode Control of Prolate Flexible Pneumatic Actuators

Slightam

Nagurka

2016

Volume 1: Advances in Control Design Methods, Nonlinear and Optimal Control, Robotics, and Wind Energy Systems; Aerospace Appli

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The inherent compliance, high power-density, and musclelike properties of soft actuators are especially attractive and useful in many applications, including robotics. In comparison to classical/modern control approaches, model-based control techniques, e.g., sliding mode control (SMC), applied to flexible fluidic actuators (FFAs) offer significant performance advantages and are considered to be state-of-the-art. Improvements in position tracking are possible using nonlinear control approaches that offer enhanced performance for common applications such as tracking of sinusoidal trajectories at high frequencies. This paper introduces a SMC approach that increases the tracking capabilities of prolate flexible pneumatic actuators (PF-PAs). A model-based proportional, integral, derivative sliding mode control (PIDSMC) approach designed for position control of PFPAs is proposed. SMC and PIDSMC systems are implemented on low-cost open-source controls hardware and tested for tracking sinusoidal trajectories at frequencies of 0.5 Hz and 1.0 Hz with an amplitude of 8.255 mm and an offset of 12.7 mm. The PIDSMC approach reduced the maximum tracking error by 20.0%, mean error by 18.6%, and root-mean-square error by 10.5% for a 1 Hz sinusoidal trajectory and by 8.7%, 14.7%, and 3.8%, respectively, for a 0.5 Hz sinusoidal trajectory. These reductions in tracking errors demonstrate performance advantages of the PIDSMC over conventional sliding mode position controllers.

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Development of delta robot driven by pneumatic artificial muscles

Cited by 13 publications

References 14 publications

Design and control of soft rehabilitation robots actuated by pneumatic muscles: State of the art

Design and control of soft rehabilitation robots actuated by pneumatic muscles: State of the art

Robust Control Law for Pneumatic Artificial Muscles

PID Sliding Mode Control of Prolate Flexible Pneumatic Actuators

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