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Independent Stiffness and Force Control of Antagonistic Pneumatic Artificial Muscles Joint
Zhao XG(赵新刚); Ma HY(马红阳); Ye D(叶丹); Zhang DH(张道辉)
作者部门机器人学研究室
会议名称2017 IEEE International Conference on Advanced Robotics and Mechatronics (ICARM 2017)
会议日期August 27-31, 2017
会议地点Hefei, China,
会议录名称2017 IEEE International Conference on Advanced Robotics and Mechatronics (ICARM 2017)
出版者IEEE
出版地New York
2017
页码734-739
收录类别CPCI(ISTP)
WOS记录号WOS:000426453700129
产权排序1
关键词Pam Force Stiffness Sliding Mode Control
摘要Pneumatic artificial muscles (PAMs) get widely adopted due to their similar properties compared with biological muscles. PAM is a typical pneumatic actuator. Its capability to inflate is the main characteristic, and it can produce indiscriminate expansibility. The joint of this experiment is all composed of antagonistic PAMs. In order to gain a better performance, the experiment firstly established the model of PAMs. Concerning the fact that in essence, PAM is an elastic actuator, built its dynamic model, and got its stiffness model based on the assumption that PAM can be seen as variable stiffness springs. Its force and stiffness are proportional to the application pressure. This experiment requires an accurate mathematical model and a precise control method to achieve a good performance. But given that complex nonlinear dynamics exists in PMAs, an accurate mathematic model is hardly available, which leads us to consider the sliding control method. This suggestion guarantees independent controls on the force and stiffness of the joints. The experiment showed that the joints’ control algorithm gave the celerity and accuracy on controlling the force and stiffness, and it compared results of different loads
语种英语
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文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/21349
专题机器人学研究室
通讯作者Zhao XG(赵新刚)
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Automation, CAS, Shenyang 110016
2.College of Information Science and Engineering, Northeastern University, Shenyang 110004
推荐引用方式
GB/T 7714
Zhao XG,Ma HY,Ye D,et al. Independent Stiffness and Force Control of Antagonistic Pneumatic Artificial Muscles Joint[C]. New York:IEEE,2017:734-739.
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