Independent Stiffness and Force Control of Antagonistic Pneumatic Artificial Muscles Joint
文献类型：会议论文
| 作者 | Ma HY(马红阳); Zhao XG(赵新刚) ; Ye D(叶丹); Zhang DH(张道辉)
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| 出版日期 | 2017 |
| 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, |
| 关键词 | PAM Force Stiffness Sliding mode control |
| 页码 | 734-739 |
| 通讯作者 | Zhao XG(赵新刚) |
| 中文摘要 | 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 |
| 收录类别 | CPCI（ISTP） |
| 产权排序 | 1 |
| 会议录 | 2017 IEEE International Conference on Advanced Robotics and Mechatronics (ICARM 2017)
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| 会议录出版者 | IEEE |
| 会议录出版地 | New York |
| 语种 | 英语 |
| WOS记录号 | WOS:000426453700129 |
| 源URL | [http://ir.sia.cn/handle/173321/21349]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 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 | Ma HY,Zhao XG,Ye D,et al. Independent Stiffness and Force Control of Antagonistic Pneumatic Artificial Muscles Joint[C]. 见:2017 IEEE International Conference on Advanced Robotics and Mechatronics (ICARM 2017). Hefei, China,. August 27-31, 2017. |
入库方式： OAI收割
来源：沈阳自动化研究所
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