Application of robot arm using fiber knitted type pneumatic artificial rubber muscles

Abstract

I the restoration work from disasters, the remote control of construction machine is required to ensure the worker's safety. However, conventional remote-controlled construction machine is larger than ordinary ones and limited in types and numbers, so there is a problem that the transportation to the destructed sites takes time and is troublesome.We have been developing the pneumatic humanoid type robot arm, which can be installed in any models of construction machine. In consideration of portability, the lightweight fiber knitted type pneumatic artificial rubber muscle (PARM) was adopted as the actuator.In this paper, we developed the static and dynamic characteristic models of the PARM taking the effect of elasticity of rubber and frictional force into consideration. Then we realized the remote control of the construction machine using the pneumatic robot that has 6 degree of freedom using the PARM. Moreover, we did some experiments on the remote control of the construction machine. Experimental results show that the developed system is available in remote control of a construction machine.

An Integrated Intelligent Nonlinear Control Method for a Pneumatic Artificial Muscle

“…7. Although the PID controller can work well for a nonlinear system, good performance is normally limited only to a specific region [15], [16]. As seen in the figure, this controller drove the system most accurately at the 3 mm set point.…”

“…A PID controller for a six degree-of-freedom (DOF) robotic arm driven by PAM actuators was structured from the mathematical model of the system dynamics [15]. An extended PID controller was developed based on experimental modeling of the actuator [16].…”

Damage reduction of robot at the emergence crash by modifying stiffness

“…Final actuator torque from PM pair is from the difference between two PMs. Mathematically the relation is described like (6).…”

“…But robot will suffer loss at precision and low speed response due to PM's elasticity and small vibration. Here it is supposed that it is almost impossible to assure both high precision and high elasticity generally though there were many great researches [6]- [8]. Some robot needs high precision and low elasticity like industrial application, but some robot need high elasticity without considering of high precision in millimeter unit like human robot interaction (HRI) application.…”

Adaptive Servomechanism of Pneumatic Muscle Actuators With Uncertainties

“…Among the control approaches using the input-output model are adaptive control [10], [16], H ∞ control [17], variable structure control [18], and neural network control [11]. For the dynamic models constructed from static models, sliding-mode control [19], PID control [20], [21], saturated adaptive robust control [22], active disturbance rejection control [23], and nonlinear predictive control [24] have been proposed for different kinds of robotic manipulators with PMs in different configurations. For most of the aforementioned works, due to the lack of rigorous stability analysis, the performance of the closed-loop system is not theoretically guaranteed.…”