Control of pneumatic muscle actuators
- 1 February 1995
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Control Systems
- Vol. 15 (1), 40-48
- https://doi.org/10.1109/37.341863
Abstract
Problems with the control and compliance of pneumatic systems have prevented their widespread use in advanced robotics. However, their compactness, power/weight ratio, and simplicity are factors that could potentially be exploited in sophisticated dextrous manipulator designs. This paper considers the development of a new high power/weight and power/volume braided pneumatic muscle actuator (PMA) having considerable power output potential, combined with controllable motion and inherent compliance to prevent damage to handled objects. Control of these muscles is explored via adaptive pole-placement controllers. Experimental results indicate that accurate position control of 1/spl deg/ is feasible, with power/weight outputs in excess of 1kW/kg at 200kPa.< >Keywords
This publication has 7 references indexed in Scilit:
- On the use of high order controller to improve the robustness and performance of pole-assignment controllerPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2003
- Wheelchair-mounted robots for the home environmentPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Natural and artificial muscle elements as robot actuatorsMechatronics, 1993
- Chemically stimulated pseudo-muscular actuationInternational Journal of Engineering Science, 1990
- Electro-rheologyJournal of Physics D: Applied Physics, 1988
- Design of the Utah/M.I.T. Dextrous HandPublished by Institute of Electrical and Electronics Engineers (IEEE) ,1986
- Rapid swelling and deswelling of reversible gels of polymeric acids by ionizationCellular and Molecular Life Sciences, 1949