Title :
A 2-sliding control for pneumatic artificial muscles
Author :
Chettouh, Mourad ; Toumi, Redouane ; Hamerlain, Mustapha
Author_Institution :
Univ. Saad Dahleb, Blida
Abstract :
Pneumatic artificial rubber muscles (Parms) show similarity to biological muscles. A 2-sliding control technique is applied to the first two degrees of freedom of a robot actuated by such muscles. The Parms are arranged in opposite pair or antagonistic configuration. The objective is to show that without the use of the equivalent control, it is still possible to control the robot and at the same time reduce the chatter. Experimental results are presented.
Keywords :
muscle; pneumatic actuators; robots; variable structure systems; 2-sliding control technique; Parms; antagonistic configuration; biological muscles; chatter reduction; pneumatic artificial rubber muscles; robot actuator; variable structure control; Actuators; Biological control systems; Control systems; Muscles; Prototypes; Robot control; Rubber; Sliding mode control; Springs; Switches; Artificial muscles; hosm; sliding mode; variable structure control;
Conference_Titel :
Systems, Signals and Devices, 2008. IEEE SSD 2008. 5th International Multi-Conference on
Conference_Location :
Amman
Print_ISBN :
978-1-4244-2205-0
Electronic_ISBN :
978-1-4244-2206-7
DOI :
10.1109/SSD.2008.4632867
