Comparison of Different Schemes for Motion Control of Pneumatic Artificial Muscle Using Fast Switching Valve

Xie, Songyun; Wang, Binrui; Chen, Dijian

doi:10.1007/978-3-030-27535-8_57

Cited by 2 publications

(1 citation statement)

References 15 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…With the development of robot technology, the application of robots has expanded from traditional industrial applications to the fields of surgery, rehabilitation, bionics, and rescue (Zhang and Krishnan, 2017). However, the traditional robots are mainly driven by rigid actuators like servo motors and cylinders (Xie et al, 2019), which make them hard to meet the requirements of flexibility and compliance in these fields. On the contrary, the soft robots can realize continuous deformation and large-scale motion profiting from soft or flexible materials, which can remedy for these shortcomings of rigid robots.…”

Section: Introductionmentioning

confidence: 99%

The hysteresis modeling of pneumatic artificial muscles using least squares support vector machine approach

Xie

Ren

2020

Journal of Intelligent Material Systems and Structures

Self Cite

View full text Add to dashboard Cite

Reducing the modeling errors of hysteresis model is of great significance for improving the control accuracy of pneumatic artificial muscles. However, the asymmetry and complexity of its hysteresis loops limit the effect of existing modeling approach, especially for the irregular loops. This article extends the least squares support vector machine approach to the domain of asymmetric and irregular hysteresis characterization for pneumatic artificial muscles. Compared with the established hysteresis models, the significance of this approach is that it does not depend on the shapes of hysteresis loops and possess the advantages of both few identification parameters and high accuracy. The effectiveness and advantage of the presented model is compared with modified symmetric generalized Prandtl–Ishlinskii model. In addition, the length–pressure hysteresis experiment and modeling comparison on both of Festo commercial and self-made pneumatic artificial muscles are presented. The modeling errors of least squares support vector machine model for both loops are suppressed to a negligible level, and are not affected by the shape and complexity of hysteresis loops, which validates the effectiveness of this approach.

show abstract

Section: Introductionmentioning

confidence: 99%