Name
Abstract | ||
|---|---|---|
The modeling of pneumatic actuators, also known as artificial muscles, has been the main focus in several re- search papers in the past (1, 2, 3, 4, 5). At the Center for Intelligent Systems (CIS) at Vanderbilt University, we have been using pneumatic actuators for our Intelli- gent Soft Arm Control (ISAC, Figure 1). For the posi- tion control of a joint, driven by two artificial muscles, a physical actuator model was designed and used as the basis for a subsidiary torque control. It is known that such actuators contain a high nonlinearity including a hysteresis. Experiments show that the static hysteresis is less important than the dynamic one. In similar mod- els, damping properties of the muscles have not been considered. This research paper focuses on the modification of a physical static model and the extension with a dy- namic part. The quality of the model was verified by implementing it as a torque controller and running ex- periments on a testbed. |
Year | DOI | Venue |
|---|---|---|
2003 | 10.1109/CIRA.2003.1222113 | Computational Intelligence in Robotics and Automation, 2003. Proceedings. 2003 IEEE International Symposium |
Keywords | Field | DocType |
control nonlinearities,pneumatic actuators,position control,robot dynamics,robot kinematics,torque control,Center for Intelligent System,Vanderbilt University,artificial muscle,dynamic pneumatic actuator,intelligent soft arm control,joint,position control,static hysteresis,torque controller | Control theory,Torque,Pneumatic actuator,Intelligent decision support system,Computer science,Control theory,Robot kinematics,Rotary actuator,Artificial muscle,Actuator | Conference |
Volume | ISBN | Citations |
1 | 0-7803-7866-0 | 4 |
PageRank | References | Authors |
0.60 | 10 | 4 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Joachim Schroder | 1 | 4 | 0.60 |
| Duygun Erol | 2 | 4 | 0.60 |
| Kazuhiko Kawamura | 3 | 366 | 68.28 |
| Rüdiger Dillmann | 4 | 2201 | 262.95 |