Modeling torque-angle hysteresis in a Pneumatic Muscle manipulator

IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Volumn , Issue , 2010, Pages 1122-1127

  Minh, Tri Vo ^a   Kamers, Bram ^b   Tjahjowidodo, Tegoeh ^c   Ramon, Herman ^b   Van Brussel, Hendrik ^a  

^a Division PMA   (Belgium)

^b Department of Biosystems ^*  (Belgium)

^c NANYANG TECHNOLOGICAL UNIVERSITY   (Singapore)

Author keywords

Hysteresis modeling; McKibben artificial muscle; Pneumatic muscle manipulator

Indexed keywords

ANGULAR DISPLACEMENT; HYSTERESIS MODELING; MANIPULATOR JOINTS; MCKIBBEN ARTIFICIAL MUSCLE; OUTPUT TORQUE; PNEUMATIC ARTIFICIAL MUSCLE; PNEUMATIC MANIPULATORS; PNEUMATIC MUSCLE; PNEUMATIC MUSCLE MANIPULATOR; PRESSURE DIFFERENCES;

ASYMPTOTIC ANALYSIS; HYSTERESIS; MANIPULATORS; MECHATRONICS; MUSCLE; PNEUMATIC CONTROL; PNEUMATIC EQUIPMENT;

INTELLIGENT MECHATRONICS;

EID: 79951666810     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/AIM.2010.5695805     Document Type: Conference Paper

References (21)

1. B. Tondu, P. Lopez, "Modeling and Control of McKibben Artificial Muscle Robot Actuators," IEEE Control Systems Magazine, Vol. 20, No. 2, 2000, pp. 15-38. (Pubitemid 30589176)
2. V. L. Nickel, J. Perry and A. L. Garrett, "Development of Useful Function in the Severely Paralysed Hand," The Journal of Bone and Joint Surgery, Vol.45-A, No.5, July 1963, pp. 933-952.
3. K. Inoue, "Rubbertuators and applications for robots," Proceedings of the 4th Symposium on Robotics Research, Tokyo, 1987, pp.57-63.
4. J. M. Winters, "Braided Artificial Muscles: Mechanical Properties and Future Uses in Prosthetics/Orthetics," RESNA 13th Conference, Washington, USA, 1990, pp. 173-174
5. C. P. Chou, & B. Hannaford, "Measurement and modeling of McKibben pneumatic artificial muscles," IEEE Transactions on Robotics and Automation, 1996, Vol. 12, pp. 90-102. (Pubitemid 126780450)
6. Dick H. Plettenburg, " Pneumatic Actuators: a Comparison of Energy-to-Mass Ratio's," IEEE International Conference on Rehabilitation Robotics, Chicago, IL, 2005, pp. 545-549. (Pubitemid 44017869)
7. X. C. Zhu, G. L. Tao, B. Yao, and J. Cao, "Adaptive Robust Posture Control of Parallel Manipulator Driven by Pneumatic Artificial Muscles With Redundancy," IEEE Transactions on Mechatronics, 2008, Vol. 13, pp. 441-450.
8. Samir Mittal and Chia-Hsiang Menq, "Hysteresis Compensation in Electromagnetic Actuators Through Preisach Model Inversion," IEEE Transactions on Mechatronics, 2000, Vol. 5, pp. 394-409. (Pubitemid 32131555)
9. Sushant M. Dutta and Fathi H. Ghorbel, "Differential Hysteresis Modeling of a Shape Memory Alloy Wire Actuator," IEEE Transactions on Mechatronics, 2005, Vol. 10, pp. 189-197. (Pubitemid 40679583)
10. U-Xuan Tan, Win Tun Latt, Cheng Yap Shee, Cameron N. Riviere, and Wei Tech Ang, "Feedforward Controller of Ill-Conditioned Hysteresis Using Singularity-Free Prandtl-Ishlinskii Model," IEEE Transactions on Mechatronics, 2009, Vol. 14, pp. 598-605.
11. B. Tondu, S. Ippolito, J. Guiochet, A. Daidie, "A Seven-degrees-of-freedom Robotarm Driven by Pneumatic Artificial Muscles for Humanoid Robots," The International Journal of Robotics Research, Vol. 24, No. 4, 2005, pp. 257-274. (Pubitemid 40497042)
12. Ming-Jyi Jang, Chieh-LiChen, Jie-RenLee, "Modeling and control of a piezoelectric actuator driven system with asymmetric hysteresis," Journal of the Franklin Institute,Vol. 346, 2009, pp. 17-32.
13. S. Davis, D. G. Caldwell, "Braid Effects on Contractile Range and Friction Modeling in Pneumatic Muscle Actuators," The International Journal of Robotics Research, Vol. 25, No. 4, 2006, pp. 359-369.
14. Van Damme Michael, Beyl Pieter, Vanderborght Bram, Van Ham Ronald, Vanderniepen Innes, Versluys Rino, Daerden Frank, Lefeber Dirk, "Modeling Hysteresis in Pleated Pneumatic Artificial Muscles," IEEE International Conference on Robotics, Automation & Mechatronics, 2008, pp. 471-476.
15. Tri Vo Minh, Tegoeh Tjahjowidodo, Herman Ramon, and Hendrik Van Brussel, "Non-local Memory Hysteresis in A Pneumatic Artificial Muscle," Proceedings of the 17th Mediterranean Conf. on Control and Automation, Thessaloniki, Greece, June 24-26, 2009, pp, 640-645.
16. Tri Vo Minh, Tegoeh Tjahjowidodo, Herman Ramon, and Hendrik Van Brussel, "A new approach to modeling hysteresis in a pneumatic artificial muscle using the Maxwell-slip model," IEEE/ASME Transaction on Mechatronics, Vol. PP (99),2010, pp.1-10.
17. B. Tondu, V. Boitier, P. Lopez, Naturally compliant robot-arms actuated by McKibben artificial muscles, Proceedings of '94 IEEE-SMC Conference, San Antonio, TX, 1994, pp. 2635-40.
18. P. van der Smagt, F. Groen, K. Schulten, "Analysis and control of a rubbertuator arm," Biol. Cybern, Vol. 75, 1996, pp. 433 - 140.
19. J. Schroder, D. Erol, K. Kawamura, and R. Dillmann, "Dynamic pneumatic actuator model for a model-based torque controller," IEEE Int. Symp. On Computational Intelligence in Robotics and Automation, 2003, pp. 342-347.
20. TU Diep Cong Thanh, Kyoung Kwan Ahn, Nonlinear PID control to improve the control performance of 2 axes pneumatic artificial muscle manipulator using neural network, Mechatronics, Vol. 16, 2006, pp. 577-587.
21. D. Cai, H. Yamaura, A robust controller for manipulator driven by artificial muscle actuator, Proceedings of the 1996 IEEE international conference on control applications, 1996, pp. 540-545.