Author
Uğurlu, Regaip Barkan, Forni, P., Doppmann, C., Sarıyıldız, E., Morimoto, J.
Publication Date
2019-12
Publication Place
-
IEEE
Subject
Compliant actuator, Force and position control, Pneumatic artificial muscle, Variable stiffness
Type
Periodical
Language
English
Digital
Yes
Manuscript
No
Library
Özyeğin University
Library Asset ID
1551-3203
Record ID
c2e04ed7-92e4-4e6d-9b08-5abd0260f055
Library Location
Mechanical Engineering
Date
2019-12
Notes
Commissioned Research of NICT ; ImPACT of CSTI ; New Energy and Industrial Technology Development Organization (NEDO) ; Ministry of Education, Culture, Sports, Science and Technology, Japan (MEXT) Japan Society for the Promotion of Science Grants-in-Aid for Scientific Research (KAKENHI) ; JST-Mirai Program Japan
Sample Text
This paper proposes a novel controller framework for antagonistically driven pneumatic artificial muscle (PAM) actuators. The proposed controller can be stably configured in both torque-stiffness control and position-stiffness control modes. Three contributions are sequentially presented in constructing the framework: 1) A PAM force feedback controller with guaranteed stability is synthesized in a way so as to contend with nonlinear PAM characteristics; 2) a mathematical tool is developed to compute reference PAM forces, for a given set of desired joint torque and joint stiffness inputs; and 3) on top of the torque controller, a position control scheme is implemented and its stability analysis is given in the sense of Lyapunov. In order to test the controller framework, an extensive set of experiments are conducted using an actuator that is constructed using two antagonistically coupled PAMs. As a result, the actuator exhibits satisfactory tracking performances concerning both torque-stiffness control and position-stiffness control modes.
DOI
10.1109/TII.2019.2916228
Cilt
15
