Sliding mode control of a "Soft" 2-DOF Planar Pneumatic Manipulator

被引：12
|
作者：
Van Damme, M. [1 ]
Vanderborght, B. [1 ]
Beyl, P. [1 ]
Versluys, R. [1 ]
Vanderniepen, I. [1 ]
Van Ham, R. [1 ]
Cherelle, P. [1 ]
Daerden, F. [1 ]
Lefeber, D. [1 ]
机构：
[1] Vrije Univ Brussel, Dept Mech Engn, Robot & Multibody Mech Res Grp, B-1050 Brussels, Belgium
来源：
INTERNATIONAL APPLIED MECHANICS | 2008年 / 44卷 / 10期
关键词：
Soft; 2-DOF; planar pneumatic manipulator; sliding mode controller; artificial muscle actuator;
D O I：
10.1007/s10778-009-0134-6
中图分类号：
O3 [力学];
学科分类号：
08 ; 0801 ;
摘要：
This paper presents a sliding mode controller for a "Soft" 2-DOF Planar Pneumatic Manipulator actuated by pleated pneumatic artificial muscle actuators. Since actuator dynamics is not negligible, an approximate model for pressure dynamics was taken into account, which made it necessary to perform full input-output feedback linearization in order to design a sliding mode controller. The design of the controller is presented in detail, and experimental results obtained by implementing the controller are discussed.
引用
收藏
页码：1191 / 1199
页数：9
相关论文
共 50 条
  • [21] Sliding Mode Observer Based Tip-Tracking Control of 2-DOF Serial Flexible Link Manipulator
    Sahu, Umesh Kumar
    Patra, Dipti
    Subudhi, Bidyadhar
    2019 9TH INTERNATIONAL CONFERENCE ON EMERGING TRENDS IN ENGINEERING AND TECHNOLOGY: SIGNAL AND INFORMATION PROCESSING (ICETET-SIP-19), 2019,
  • [22] RBF Neural Network of Sliding Mode Control for Time-Varying 2-DOF Parallel Manipulator System
    Chen, Haizhong
    Wo, Songlin
    MATHEMATICAL PROBLEMS IN ENGINEERING, 2013, 2013
  • [23] Research on the Adaptive Fuzzy Sliding Mode Control of 2-DOF Robot
    Zhang, Dawei
    Song, Shenmin
    FIFTH INTERNATIONAL CONFERENCE ON FUZZY SYSTEMS AND KNOWLEDGE DISCOVERY, VOL 3, PROCEEDINGS, 2008, : 236 - 240
  • [24] Equilibrium point control of a 2-DOF manipulator
    Clapa, DJ
    Croft, EA
    Hodgson, AJ
    JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME, 2006, 128 (01): : 134 - 141
  • [25] Control of a 2-DOF manipulator with a flexible forearm
    Lye, Koh Tuck
    Krishnan, H.
    Teo, C.L.
    Sadhana - Academy Proceedings in Engineering Sciences, 1997, 22 (pt 4): : 499 - 523
  • [26] Control of a 2-DOF manipulator with a flexible forearm
    Koh Tuck Lye
    H Krishnan
    C L Teo
    Sadhana, 1997, 22 : 499 - 523
  • [27] Control of a 2-DOF manipulator with a flexible forearm
    Lye, KT
    Krishnan, H
    Teo, CL
    SADHANA-ACADEMY PROCEEDINGS IN ENGINEERING SCIENCES, 1997, 22 (4): : 499 - 523
  • [28] Kinematic Analysis of a Flexible Planar 2-DOF Parallel Manipulator
    Zhu, Jiaqi
    Li, Bin
    Mu, Haozhi
    Li, Qi
    INTELLIGENT ROBOTICS AND APPLICATIONS, ICIRA 2019, PT V, 2019, 11744 : 696 - 706
  • [29] Optimal Kinematic Design of a 2-DOF Planar Parallel Manipulator
    吴军
    李铁民
    刘辛军
    王立平
    Tsinghua Science and Technology, 2007, (03) : 269 - 275
  • [30] Optimal Kinematic Design of a 2-DOF Planar Parallel Manipulator
    Zhu, Xiaorong
    Shen, Huiping
    Zhu, Wei
    FRONTIERS OF MANUFACTURING AND DESIGN SCIENCE, PTS 1-4, 2011, 44-47 : 1843 - 1847
12345