Design and Control of 6-DOF Robotic Manipulator Driven by Pneumatic Muscles and Motor
學年 110
學期 1
出版（發表）日期 2021-09-10
作品名稱 Design and Control of 6-DOF Robotic Manipulator Driven by Pneumatic Muscles and Motor
作品名稱（其他語言）
著者 L.W. Lee; L.Y. Lu; I.H. Li; C.-W. Lee; T.-J. Su
單位
出版者
著錄名稱、卷期、頁數 Sensors and Materials 33(9), p.3081-3100
摘要 A pneumatic-muscle actuator (PMA) is made of a unique material with fibers wrapped inside and metal fittings attached at each end. Because of reversible physical deformation, a PMA can produce linear motion during contraction and muscle expansion. We use a PMA and motors’ hybrid drivers to implement a low-cost and safe robot manipulator with six degrees of freedom (6-DOF). Safety is achieved by applying a novel proxy-based sliding mode controller (NPSMC) and a linear extended state observer (LESO) on each joint of the 6-DOF robot manipulator. The NPSMC can compensate the six joints of the 6-DOF robot manipulator reaching Lyapunov stability, and we prove that their pathing errors converge to a neighborhood of zero. An experiment on all joints is conducted to verify the trajectory pathing precision and system safety for the 6-DOF robot manipulator. The experimental results show that under NPSMC compensation and the LESO estimate, the 6-DOF robot manipulator using the hybrid drivers satisfies both the pathing performance demands and safety control.
關鍵字 serial manipulator arm;smooth control;pneumatic-muscle actuator;linear extended state observer;novel proxy-based sliding mode control
語言 zh_TW
ISSN 2435-0869
期刊性質 國外
收錄於 SCI
產學合作
通訊作者
審稿制度 否
國別 JPN
公開徵稿
出版型式 ,電子版
相關連結

機構典藏連結 ( http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/122315 )