Static and dynamic properties of the pneumatic actuator with artificial muscles

Balara, Milan; Tóthová, Mária

doi:10.1109/sisy.2012.6339483

Cited by 19 publications

(16 citation statements)

References 1 publication

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“…FSR sensors exhibit high variance. It is not advisable to use them as a single measurement method [27][28][29]. They can be complementary to another method of measurement (e.g.…”

Section: Results Of Experimentsmentioning

confidence: 99%

Experimental Verification of Force Feedback for Rehabilitation Robot

Liška

Kováč

2015

JERA

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“…FSR sensors exhibit high variance. It is not advisable to use them as a single measurement method [27][28][29]. They can be complementary to another method of measurement (e.g.…”

Section: Results Of Experimentsmentioning

confidence: 99%

Experimental Verification of Force Feedback for Rehabilitation Robot

Liška

Kováč

2015

JERA

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“…Also, he puts forward the use of an additional discontinuous term that increases robustness, performance and stability. The works of Balara (2012) contain information about the function and basic properties of the actuator based on pneumatic artificial muscles. They describe the design method of control structure of such an actuator and show the nonlinear static and dynamic characteristics of this actuator.…”

Section: Related Workmentioning

confidence: 99%

Classical Sliding and Generalized Variable Structure Controls for a Manipulator Robot Arm with Pneumatic Artificial Muscles

Melkou

Hamerlain

2014

International Journal of System Dynamics Applications

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Service robotics is a domain in full effervescence because it allows a human being to interact directly with a robot while guaranteeing both safety and comfort to the human. The pneumatic artificial muscle (PAM), as an actuator, has become a solution increasingly adopted in the applications of service robotics because it provides a robot with joint compliance comparable to that of the human body. Although possessing known qualities, the PAM's nonlinearities make it one of the actuators the most difficult to model. This inconvenience limits the use of classical control as it can result in an unexpected or unwanted behavior of the system. It is thus advisable to opt for robust control algorithms to deal with these problems. Amongst robust controllers, the Classical Variable Structure (CVS) control generating a sliding mode is implemented. This control law is known by its robustness versus modeling errors, parametric uncertainties and external matched disturbances. However, the main disadvantage of this control is the appearance of high frequency oscillations once the sliding surface is reached. This phenomenon known as chattering can cause precision loss and premature actuators' wear. Results in both simulation and experiment show that these oscillations are due to the discontinuous component of the control. Numerous solutions exist for its attenuation. One is presented in this paper, the Generalized Variable Structure (GVS). The objective of this work is the synthesis and implementation of Classical and Generalized Variable Structure Control for a manipulator robot arm actuated by PAMs.

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“…From the control point of view, PMAs are nonlinear and hysteretic devices due to their specific construction and therefore it's difficult to model [6], simulate [7,8] and of course control them [9,10]. When creating a PMA model it is important to know the mathematical properties [11,12] and identify the physical effects [12] that occur in such system. It is necessary to propose a model to be low sensitive to vagueness, and thus it will be able to provide the nominal responses to changes of parameters and disturbances [14].…”

Section: Introductionmentioning

confidence: 99%

Static Force Model-Based Stiffness Model for Pneumatic Muscle Actuators

Sárosi

Piteľ

Šeminský

2015

JERA

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Pneumatic muscle actuators (PMAs) differ from general pneumatic systems as they have no inner moved parts and there is no sliding on the surfaces. During action they reach high velocities, while the power/weight and power/volume rations reach high levels. The main drawbacks of PMAs are limited contraction (relative displacement), nonlinear and time variable behaviour, existence of hysteresis and step-jump pressure (to start radial diaphragm deformation) and also antagonistic connection of PMAs to generate two-direction motion. These make PMAs difficult to modelling and control. In this paper a new stiffness model and the variable-stiffness spring-like characteristics are described and tested using two Fluidic Muscles made by Festo Company. The muscles have the same diameter, but different length.

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Static and dynamic properties of the pneumatic actuator with artificial muscles

Cited by 19 publications

References 1 publication

Experimental Verification of Force Feedback for Rehabilitation Robot

Experimental Verification of Force Feedback for Rehabilitation Robot

Classical Sliding and Generalized Variable Structure Controls for a Manipulator Robot Arm with Pneumatic Artificial Muscles

Static Force Model-Based Stiffness Model for Pneumatic Muscle Actuators

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