Stable control of force, position, and stiffness for robot joints powered via pneumatic muscles

Name: Stable control of force, position, and stiffness for robot joints powered via pneumatic muscles
Author: Uğurlu, Regaip Barkan, Forni, P., Doppmann, C., Sarıyıldız, E., Morimoto, J.

İsim	Stable control of force, position, and stiffness for robot joints powered via pneumatic muscles
Yazar	Uğurlu, Regaip Barkan, Forni, P., Doppmann, C., Sarıyıldız, E., Morimoto, J.
Basım Tarihi:	2019-12
Basım Yeri	- IEEE
Konu	Compliant actuator, Force and position control, Pneumatic artificial muscle, Variable stiffness
Tür	Süreli Yayın
Dil	İngilizce
Dijital	Evet
Yazma	Hayır
Kütüphane:	Özyeğin Üniversitesi
Demirbaş Numarası	1551-3203
Kayıt Numarası	c2e04ed7-92e4-4e6d-9b08-5abd0260f055
Lokasyon	Mechanical Engineering
Tarih	2019-12
Notlar	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
Örnek Metin	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

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Stable control of force, position, and stiffness for robot joints powered via pneumatic muscles

Yazar Uğurlu, Regaip Barkan, Forni, P., Doppmann, C., Sarıyıldız, E., Morimoto, J.

Basım Tarihi 2019-12

Basım Yeri - IEEE

Konu Compliant actuator, Force and position control, Pneumatic artificial muscle, Variable stiffness

Tür Süreli Yayın

Dil İngilizce

Dijital Evet

Yazma Hayır

Kütüphane Özyeğin Üniversitesi

Demirbaş Numarası 1551-3203

Kayıt Numarası c2e04ed7-92e4-4e6d-9b08-5abd0260f055

Lokasyon Mechanical Engineering

Tarih 2019-12

Notlar 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

Örnek Metin 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