A frequency modeling method of rubbertuators for control application in an IMA framework

Author

Thongchai, S. ; Goldfarb, Michael ; Sarkar, N. ; Kawamura, K.

Author_Institution

Dept. of Electr. Eng., Vanderbilt Univ., Nashville, TN, USA

Volume

2

fYear

2001

fDate

2001

Firstpage

1710

Abstract

This paper presents the results of rubbertuator modeling for purposes of control applications. A pair of rubbertuators is constructed as a revolute joint. The rubbertuator arm is highly nonlinear and exhibits hysteresis. The frequency modeling method was implemented using software agents within the intelligent machine architecture (IMA) framework. Several linear models were built, simulated, and employed to design a controller for the rubbertuators. The results show that all models match the experimental data in each frequency range. A fuzzy model-based controller was designed and implemented as an example using the IMA framework

Keywords

actuators; control system synthesis; flexible structures; hysteresis; intelligent control; multi-agent systems; nonlinear control systems; pneumatic control equipment; robots; IMA framework; McKibben artificial muscle; control application; flexible actuator; frequency modeling method; fuzzy model-based controller; highly-nonlinear arm; hysteresis; intelligent machine architecture; revolute joint; rubber actuator; rubbertuator arm; software agents; Communication system control; Computer architecture; Frequency; Humans; Intelligent agent; Intelligent robots; Machine intelligence; Muscles; Robot control; Robot sensing systems;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 2001. Proceedings of the 2001

Conference_Location

Arlington, VA

ISSN

0743-1619

Print_ISBN

0-7803-6495-3

Type

conf

DOI

10.1109/ACC.2001.945977

Filename

945977