Development of Tracking Control of a Single-Axis Robot Arm with Pneumatic Muscle Actuators

• Main Authors: Guan-You Lin, 林冠佑
• Other Authors: 江茂雄
• Format: Others
• Language: zh-TW
• Published: 2008
• Online Access: http://ndltd.ncl.edu.tw/handle/15345670869451526514

碩士 === 國立臺灣大學 === 工程科學及海洋工程學研究所 === 96 === The paper aims to develop a novel pneumatic robot system driven by Pneumatic Muscle Actuators (PMA). In order to analyze the characteristics of the PMA, non-linear modeling, dynamic simulation and experiments of path tracking control and path-positioning control are implemented for the single PMA firstly. Then, the dual-PMA robot arm is also implemented for the rotational angle control in simulation and experiment where the rotational axis is driven by two PMAs, i.e. one is in extension and the other is in contraction. To realize the rotational angle control, Fourier series-based adaptive sliding mode controller with tracking performance is used to control the PMAs through the pressure control servo valves. For ensuring the smooth motion, the path-position control is realized to keep both the transient and steady state response. The simulation and experiment of the path-positioning control, including the single-axis pneumatic muscle actuator and the dual-PMA robot arm are performed and show that the system can achieve high positioning accuracy and excellent tracking performance.