Position and Force Control Based on Mathematical Models of Pneumatic Artificial Muscles Reinforced by Straight Glass Fibers
Position and Force Control Based on Mathematical Models of Pneumatic Artificial Muscles Reinforced by Straight Glass Fibers
复制标题
基于直玻璃纤维增强气动人工肌肉数学模型的位置和力控制
DOI：
10.1109/robot.2007.364151
复制
发表时间：
2007
期刊：
影响因子：
--
通讯作者：
Hitomi Shinohara
中科院分区：
文献类型：
--
作者：
Taro Nakamura;Hitomi Shinohara
本文报道了直玻璃纤维增强气动人造肌肉的位置和力控制。与传统的 McKibben 类型相比，这种类型的人造肌肉具有更大的收缩比和功率以及更长的使用寿命。然而，这些肌肉是高度非线性的；因此，很难在机械系统中使用它们。此外，该致动器具有高柔顺特性。尽管此特性对于人类交互很有用，但该执行器的位置和力无法轻松控制。本文提出了此类人工肌肉的数学模型，并实现了设计参数与控制规范之间的关系。此外，基于数学模型的位置和力被确定并应用于人工肌肉线性化。
This paper reports on the position and force control of pneumatic artificial muscles reinforced by straight glass fibers. This type of artificial muscle has a greater contraction ratio and power and a longer lifetime than conventional McKibben types. However, these muscles are highly non-linear; hence, it is difficult to use them in a mechanical system. Furthermore, this actuator has a high compliance characteristic. Though this characteristic is useful for human interactions, the position and force of this actuator cannot be easily controlled. In this paper, a mathematical model of this type of artificial muscle is proposed, and the relationship between design parameters and control specifications is realized. In addition, the position and force based on the mathematical model are determined and applied to artificial muscle linearization.