TY - GEN
T1 - Decoupling control of PMA-driven serial link mechanism
AU - Liu, Hao
AU - Zhang, Lijian
AU - Li, Yituo
AU - Li, Xin
AU - Zhang, Chao
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/11/24
Y1 - 2015/11/24
N2 - Serial link mechanism driven by pneumatic artificial muscles (PMA) usually adopts tendon transmission. In many cases, the torque and position couplings between each joint are obvious, which would affect the control performance. By analyzing the position equation of tendons, this article proposes a decoupling control method for PMA-driven serial link mechanism. First of all, the coupling matrix is calculated. Then combined with the model of PMA, the system coupled dynamics equations are derived. Considering the coupling of tendon-transmitted and the nonlinearity characteristics of PMA, a decoupling control algorithm based on improved computed torque method is proposed and adopted on decoupling control in the PMA-driven and tendon-transmitted system, which can compensate the hysteresis for PMA. Experimental results show that compared with the traditional PID control, the decoupling control method proposed in this article is capable of reducing system coupling, decreasing response time and eliminating the steady-state error to some extent.
AB - Serial link mechanism driven by pneumatic artificial muscles (PMA) usually adopts tendon transmission. In many cases, the torque and position couplings between each joint are obvious, which would affect the control performance. By analyzing the position equation of tendons, this article proposes a decoupling control method for PMA-driven serial link mechanism. First of all, the coupling matrix is calculated. Then combined with the model of PMA, the system coupled dynamics equations are derived. Considering the coupling of tendon-transmitted and the nonlinearity characteristics of PMA, a decoupling control algorithm based on improved computed torque method is proposed and adopted on decoupling control in the PMA-driven and tendon-transmitted system, which can compensate the hysteresis for PMA. Experimental results show that compared with the traditional PID control, the decoupling control method proposed in this article is capable of reducing system coupling, decreasing response time and eliminating the steady-state error to some extent.
KW - decoupling control
KW - pneumatic artificial muscle
KW - tendon-transmitted
UR - https://www.scopus.com/pages/publications/84962623636
U2 - 10.1109/FPM.2015.7337269
DO - 10.1109/FPM.2015.7337269
M3 - 会议稿件
AN - SCOPUS:84962623636
T3 - Proceedings of 2015 International Conference on Fluid Power and Mechatronics, FPM 2015
SP - 571
EP - 575
BT - Proceedings of 2015 International Conference on Fluid Power and Mechatronics, FPM 2015
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 7th International Conference on Fluid Power and Mechatronics, FPM 2015
Y2 - 5 August 2015 through 7 August 2015
ER -