지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 저널정보
- 대한기계학회 Journal of Mechanical Science and Technology Journal of Mechanical Science and Technology Vol.21 No.8
- 발행연도
- 2007.8
- 수록면
- 1,196 - 1,206 (11page)
이용수
초록· 키워드
오류제보하기
Pneumatic cylinders are one kind of low cost actuation sources which have been applied in industrial and robotics field, since they have a high power/weight ratio, a high-tension force and a long durability. To overcome the shortcomings of conventional pneumatic cylinders, a number of newer pneumatic actuators have been developed such as McKibben Muscle, Rubber Actuator and Pneumatic Artificial Muscle (PAM) Manipulators. 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. In addition, the nonlinearities in the PAM manipulator still limit the controllability. Therefore, it is not easy to realize motion with high accuracy and high speed and with respect to various external inertia loads.
To overcome these problems, a novel controller which harmonizes a phase plane switching control method (PPSC) with conventional PID controller and the adaptabilities of neural network is newly proposed. In order to realize satisfactory control performance a variable damper, Magneto-Rheological Brake (MRB), is equipped to the joint of the robot. The mixture of conventional PID controller and an intelligent phase plane switching control using neural network (IPPSC) brings us a novel controller. The experiments were carried out in a robot arm, which is driven by two PAM actuators, 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 IPPSC and without regard for the changes of external inertia loads.
To overcome these problems, a novel controller which harmonizes a phase plane switching control method (PPSC) with conventional PID controller and the adaptabilities of neural network is newly proposed. In order to realize satisfactory control performance a variable damper, Magneto-Rheological Brake (MRB), is equipped to the joint of the robot. The mixture of conventional PID controller and an intelligent phase plane switching control using neural network (IPPSC) brings us a novel controller. The experiments were carried out in a robot arm, which is driven by two PAM actuators, 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 IPPSC and without regard for the changes of external inertia loads.
목차
Abstract
1. Introduction
2. Experimental setup
3. Control system
4. Proposed Intelligent Phase Plane Switching Control using neural network (IPPSC)
5. Conclusions
References
참고문헌 (19)
참고문헌 신청
Ahn, K. K., Lee, B. R. and Yang, S. Y., 2003, “Design and Experimental Evaluation of a Robust Force Controller for a 6-link Electro-hydraulic Manipulator Via H Infinity Control Theory,” In KSME Int. Journal, Vol. 17, No. 7, pp. 999~1010.
Caldwell, D. G., Medrano-Cerda, G. A. and Goodwin, M., 1995, “Control of Pneumatic Muscle Actuators,” In IEEE on Control Systems Magazine, Vol. 15, No. 1, pp. 40~48.
Caldwell, D. G., Razak, A. and Goodwin, M. J., 1993, “Braided Pneumatic Muscle Actuator,” IFAC Conf. on Int. Autonomous Vehicles, Southampton, UK.
Caldwell, D. G., Tsagarakis, N., Medrano-Cerda, G. A., Schofield, J. and Brown, S., 1999, “Development of a Pneumatic Muscle Actuator Driven Manipulator Rig for Nuclear Waste Retrieval Operations,” In Proc. of the IEEE Int. Conf. on Robotics and Automatio
Carbonell, P., Jiang, Z. P. and Repperger, D. W., 2001, “Nonlinear Control of a Pneumatic Muscle Actuator: Backstepping vs. Sliding-mode,” In Proc. of the IEEE Int. Conf. on Control Applications, pp. 167~172.
Caldwell, D. G., Medrano-Cerda, G. A. and Goodwin, M., 1995, “Control of Pneumatic Muscle Actuators,” In IEEE on Control Systems Magazine, Vol. 15, No. 1, pp. 40~48.
Caldwell, D. G., Razak, A. and Goodwin, M. J., 1993, “Braided Pneumatic Muscle Actuator,” IFAC Conf. on Int. Autonomous Vehicles, Southampton, UK.
Caldwell, D. G., Tsagarakis, N., Medrano-Cerda, G. A., Schofield, J. and Brown, S., 1999, “Development of a Pneumatic Muscle Actuator Driven Manipulator Rig for Nuclear Waste Retrieval Operations,” In Proc. of the IEEE Int. Conf. on Robotics and Automatio
Carbonell, P., Jiang, Z. P. and Repperger, D. W., 2001, “Nonlinear Control of a Pneumatic Muscle Actuator: Backstepping vs. Sliding-mode,” In Proc. of the IEEE Int. Conf. on Control Applications, pp. 167~172.
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UCI(KEPA) : I410-ECN-0101-2009-550-016855074