Improvement of control performance of pneumatic rubber artificial muscle manipulator by using electrorheological fluid damper
Improvement of control performance of pneumatic rubber artificial muscle manipulator by using electrorheological fluid damper
复制标题
利用电流变液阻尼器改善气动橡胶人工肌肉机械手的控制性能
DOI：
10.1109/icsmc.1999.812505
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发表时间：
1999
期刊：
影响因子：
--
通讯作者：
Kazutoshi Ito
中科院分区：
文献类型：
--
作者：
Toshiro Noritsugu;Yoshio Tsujp;Kazutoshi Ito
本文的目的是利用电流变流体改善可变阻尼器气动橡胶人造肌肉执行器的控制性能。执行机构的空气可压缩性和阻尼能力不足导致压力响应的动态延迟，引起振荡运动。在机械臂的关节处采用由电流变液组成的可变阻尼器。一些阶跃响应实验证明，在高增益控制中，采用相平面切换控制方法比常规的PID控制方法更能提高机械手的稳定性。
The goal of the paper is to improve the control performance of a pneumatic rubber artificial muscle actuator with variable damper using electrorheological fluid. The air compressibility and the lack of damping ability of the actuator bring the dynamic delay of the pressure response and cause oscillatory motion. A variable damper comprising electrorheological fluid(ERF) is used in the joint of the manipulator. Some experiments on step response have proved that by using a phase plane switching control method the stability of the manipulator can be improved compared with a usual PID control method in high gain control.