Title :
Two-link pneumatic artificial muscle manipulator based on passive dynamic control
Author :
Kiyota, Takanori ; Fujita, Yoshikazu ; Minamiyama, Yasuhiro ; Sugimoto, Naozo
Author_Institution :
Univ. of Kitakyushu, Kitakyushu, Japan
Abstract :
The passive dynamic control (“PDC”) is a mechanical system control method based on an inherently safe design. It positively uses a brake having variable characteristics. In this paper, the PDC is applied to a two-link pneumatic artificial muscle manipulator. First, new mechanism in which two arms are controlled separately is proposed, and its control method based on operation of MR brakes is described. Then, the effectiveness of the proposed control method is examined through experiments of positioning control and circular follow-up control.
Keywords :
brakes; electroactive polymer actuators; magnetorheology; manipulator dynamics; pneumatic actuators; position control; MR brakes; circular follow-up control; magneto-rheological brake; mechanical system control method; passive dynamic control; positioning control; two-link pneumatic artificial muscle manipulator; Actuators; Force; Muscles; Safety; Switches; Torque; Valves; inherently safe design; manipulators; mechatronics; motion control; pneumatic actuators; position control; safety;
Conference_Titel :
Industrial Electronics Society, IECON 2013 - 39th Annual Conference of the IEEE
Conference_Location :
Vienna
DOI :
10.1109/IECON.2013.6699825
