Cascaded control concept of a robot with two degrees of freedom driven by four artificial pneumatic muscle actuators
Cascaded control concept of a robot with two degrees of freedom driven by four artificial pneumatic muscle actuators
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DOI：
10.1109/acc.2005.1470036
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发表时间：
2005-06
期刊：
影响因子：
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通讯作者：
A. Hildebrandt;O. Sawodny;R. Neumann;A. Hartmann
中科院分区：
文献类型：
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作者：
A. Hildebrandt;O. Sawodny;R. Neumann;A. Hartmann
气动肌肉在机器人中用作致动器是有趣的，因为它们具有高功率/重量比，高张力和长耐用性。提出了一种由四块气动肌肉驱动的两轴平面关节型机器人。每个执行器由一个3/3通电子伺服阀供电。这项工作的一部分是推导的模型描述，它描述了一个高度非线性的动态行为的机器人。重点是气动肌肉的物理模型和伺服阀的详细模型描述。其目的是控制工具中心点（TCP）的机械手，这在这里的基础上的驱动系统补偿的非线性效应的快速辅助转矩调节器。由于机器人代表MIMO系统，因此定义了第二控制目标，其在此对应于每个肌肉对的平均压力。提出了一种优化策略，以满足最大刚度的受控驱动系统。由于转矩控制器保证了快速线性输入/输出行为，因此实现了基于计算转矩方法的标准化控制器来跟踪TCP。测量结果表明，所提出的级联控制概念的效率。
Pneumatic muscles are interesting in their use as actuators in robotics, since they have a high power/weight ratio, a high-tension force and a long durability. This paper presents a two-axis planar articulated robot, which is driven by four pneumatic muscles. Every actuator is supplied by one electronic servo valve in 3/3-way function. Part of this work is the derivation of the model description, which describes a high nonlinear dynamic behavior of the robot. Main focus is the physical model for the pneumatic muscle and a detailed model description for the servo valves. The aim is to control the tool center point (TCP) of the manipulator, which bases here on a fast subsidiary torque regulator of the drive system compensating the nonlinear effects. As the robot represents a MIMO system, a second control objective is defined, which corresponds here to the average pressure of each muscle-pair. An optimisation-strategy is presented to meet the maximum stiffness of the controlled drive system. As the torque controller assures a fast linear input/output behavior, a standardized controller is implemented which bases here on the Computed Torque Method to track the TCP. Measurement results show the efficiency of the presented cascaded control concept.