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KyoungKwan AHN,TU Diep Cong Thanh 대한기계학회 2004 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.18 No.8
Problems with the control, oscillatory motion and compliance of pneumatic systems have prevented their widespread use in advanced robotics. However, their compactness, power/weight ratio, ease of maintenance and inherent safety are factors that could be potentially exploited in sophisticated dexterous manipulator designs. These advantages have led to the development of<br/> novel actuators such as the McKibben Muscle, Rubber Actuator and Pneumatic Artificial Muscle Manipulators. However, some limitations still exist, such as a deterioration of the performance of transient response due to the changes in the external inertia load in the pneumatic artificial muscle manipulator.<br/> To overcome this problem, a switching algorithm of the control parameter using a learning vector quantization neural network (L VQNN) is newly proposed. This estimates the external inertia load of the pneumatic artificial muscle manipulator. The effectiveness of the proposed control algorithm is demonstrated through experiments with different external inertia loads.
Ahn, Kyoung-Kwan,Thanh, TU Diep Cong The Korean Society of Mechanical Engineers 2004 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.18 No.8
Problems with the control, oscillatory motion and compliance of pneumatic systems have prevented their widespread use in advanced robotics. However, their compactness, power/weight ratio, ease of maintenance and inherent safety are factors that could be potentially exploited in sophisticated dexterous manipulator designs. These advantages have led to the development of novel actuators such as the McKibben Muscle, Rubber Actuator and Pneumatic Artificial Muscle Manipulators. However, some limitations still exist, such as a deterioration of the performance of transient response due to the changes in the external inertia load in the pneumatic artificial muscle manipulator. To overcome this problem, a switching algorithm of the control parameter using a learning vector quantization neural network (LVQNN) is newly proposed. This estimates the external inertia load of the pneumatic artificial muscle manipulator. The effectiveness of the proposed control algorithm is demonstrated through experiments with different external inertia loads.
Kyoung Kwan Ahn,TU Diep Cong Thanh 대한기계학회 2005 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.19 No.1
A novel actuator system which has achieved increased popularity to provide these advantages such as high strength and power/weight ratio, low cost, compactness, ease of maintenance, cleanliness, readily available, cheap power source, inherent safety and mobility assistance to humans performing tasks has been the utilization of the pneumatic artificial muscle (PAM) manipulator, in recent times. However, the complex nonlinear dynamics of the PAM manipulator makes it a challenging and appealing system for modeling and control design. The problems with the time variance, compliance, high hysteresis and nonlinearity of pneumatic systems have made it difficult to realize precise position control with high speed. In order to realize satisfactory control performance, the effect of nonlinear factors contained in the PAM manipulator must be considered. The purpose of this study is to improve the control performance of the PAM manipulator using a nonlinear PID controller. Superb mixture of conventional PID controller and the neural network, which has powerful capability of learning, adaptation and tackling nonlinearity, brings us a novel nonlinear PID controller using neural network. This proposed controller is appropriate for a kind of plants with nonlinearity uncertainties and disturbances. The experiments were carried out in practical PAM manipulator and the effectiveness of the proposed control algorithm was demonstrated through the experiments, which suggests its superior performance and disturbance rejection.
Performance Improvement of Pneumatic Artificial Muscle Manipulators Using Magneto-Rheological Brake
Kyoung Kwan Ahn,TU Diep Cong Thanh,Young Kong Ahn 대한기계학회 2005 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.19 No.3
A novel pneumatic artificial muscle actuator (PAM actuator), which has achieved increased popularity to provide the advantages such as high strength and high power/weight ratio, low cost, compactness, ease of maintenance, cleanliness, readily available and cheap power source, inherent safety and mobility assistance to humans performing tasks, has been regarded during the recent decades as an interesting alternative to hydraulic and electric actuators However, some limitations sun exist, such as the au compressibility and the lack of damping ability of the actuator bring the dynamic delay of the pressure response and cause the oscillatory motion. Then it is not easy to realize the performance of transient response of pneumatic artificial muscle manipulator (PAM manipulator) due to the changes m the external inertia load with high speed in order to realize satisfactory control performance, a variable damper - Magneto-Rheological Brake (MRB), is equipped to the joint of the manipulator Superb mixture of conventional PID controller and a phase plane switching control method brings us a novel controller This proposed controller is appropriate for a kind of plants with nonlinearity, uncertainties and disturbances, The experiments were carried out in practical PAM manipulator and the effectiveness of the proposed control algorithm was demonstrated through experiments, which had proved that the stability of the manipulator can be improved greatly in a high gall1 control by using MRB with phase plane switching control method and without regard for the changes of external inertia loads.
Performance Improvement of Pneumatic Artificial Muscle Manipulators Using Magneto-Rheological Brake
Ahn, Kyoung-Kwan,Cong Thanh, TU Diep,Ahn, Young-Kong The Korean Society of Mechanical Engineers 2005 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.19 No.3
A novel pneumatic artificial muscle actuator (PAM actuator), which has achieved increased popularity to provide the advantages such as high strength and high power/weight ratio, low cost, compactness, ease of maintenance, cleanliness, readily available and cheap power source, inherent safety and mobility assistance to humans performing tasks, has been regarded during the recent decades as an interesting alternative to hydraulic and electric actuators. However, some limitations still exist, such as the air compressibility and the lack of damping ability of the actuator bring the dynamic delay of the pressure response and cause the oscillatory motion. Then it is not easy to realize the performance of transient response of pneumatic artificial muscle manipulator (PAM manipulator) due to the changes in the external inertia load with high speed. In order to realize satisfactory control performance, a variable damper-MagnetoRheological Brake (MRB), is equipped to the joint of the manipulator. Superb mixture of conventional PID controller and a phase plane switching control method brings us a novel controller. This proposed controller is appropriate for a kind of plants with nonlinearity, uncertainties and disturbances. The experiments were carried out in practical PAM manipulator and the effectiveness of the proposed control algorithm was demonstrated through experiments, which had proved that the stability of the manipulator can be improved greatly in a high gain control by using MRB with phase plane switching control method and without regard for the changes of external inertia loads.