Tracking Control of Pneumatic Artificial Muscle-Activated Robot Arm Based on Sliding-Mode Control

Tracking Control of Pneumatic Artificial Muscle-Activated Robot Arm Based on Sliding-Mode Control

This study discusses a circular trajectory tracking function through a proposed pneumatic artificial muscle (PAM)-actuated robot manipulator. First, a dynamic model between a robot arm and a PAM cylinder is introduced. Then the parameters thereof are identified through a genetic algorithm (GA). Fina...

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Bibliographic Details
Main Authors: Chih-Jer Lin, Ting-Yi Sie, Wen-Lin Chu, Her-Terng Yau, Chih-Hao Ding
Format: Article
Language:English
Published: MDPI AG 2021-03-01
Series:Actuators
Subjects:
pneumatic artificial muscles
robot
sliding-mode control
Online Access:https://www.mdpi.com/2076-0825/10/3/66

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