Control of pneumatic artificial muscle system through experimental modelling

Ganguly, Shameek; Garg, Anshul; Pasricha, Akshay; Dwivedy, Santosha K.

doi:10.1016/j.mechatronics.2012.09.010

Cited by 80 publications

(37 citation statements)

References 19 publications

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“…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.…”

Section: Case Studymentioning

confidence: 99%

See 1 more Smart Citation

An Integrated Intelligent Nonlinear Control Method for a Pneumatic Artificial Muscle

Dinh

Ahn

2016

IEEE/ASME Trans. Mechatron.

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Section: Case Studymentioning

confidence: 99%

“…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]. Through the good control results, the effects of these methods were proven.…”

Section: Introductionmentioning

confidence: 99%

An Integrated Intelligent Nonlinear Control Method for a Pneumatic Artificial Muscle

Dinh

Ahn

2016

IEEE/ASME Trans. Mechatron.

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“…They established the double pneumatic muscle system PI model used as the feedforward compensation of a sliding mode controller to reduce the tracking error [8]. Shameek Ganguly et al studied the position control of a single freedom degree manipulator driven by pneumatic muscle and put forward a new method to establish an accurate model for the system [9].…”

Section: Introductionmentioning

confidence: 99%

Impedance Control of a Pneumatic Muscles-Driven Ankle Rehabilitation Robot

Zhang

et al. 2017

Lecture Notes in Computer Science

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Abstract. Pneumatic muscle is a new type of flexible actuator with advantages in terms of light weight, large output power/weight ratio, good security, low price and clean. In this paper, an ankle rehabilitation robot with two degrees of freedom driven by pneumatic muscle is studied. The force control method with an impedance controller in outer loop and a position inner loop is proposed. The demand of rehabilitation torque is ensured through tracking forces of three pneumatic muscle actuators. In the simulation, the constant force and variable force are tracked with error less than 10N. In the experiment, the force control method also achieved satisfactory results, which provides a good support for the application of the robot in the ankle rehabilitation.

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“…Kang and Kothera proposed a dynamic modeling of PAM [15]. The quasi-static characteristics of the PAM are modeled followed by the dynamic characteristics through spectral analysis [16]. A new approach to model the hysteresis of a basic antagonistic manipulator joint constructed by a pair of Festo fluidic muscles is present [17].…”

Section: Introductionmentioning

confidence: 99%