Position and Compliance Control of a Pneumatic Muscle Actuated Manipulator for Enhanced Safety

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The safety of humans who work with robots is an important issue. Many studies have addressed related methods, but fundamental limits to meet safety requirements have been encountered owing to the absence of compliance in robot actuators. Pneumatic muscle is considered to be a basic actuator and offers the advantage of intrinsic elasticity to achieve joint compliance. In this study, joint compliance actuated by pneumatic muscle is actively utilized to enhance human safety during collisions. To this end, the authors present a novel approach to control compliance and associated positions independently with no cross-performance effects using pneumatic muscles. The proposed method is verified by simulation and experiments using a physical robot.
Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Issue Date
2011-07
Language
English
Article Type
Article
Keywords

SLIDING-MODE CONTROL; TRACKING; DRIVEN; DESIGN; ROBOT

Citation

IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, v.19, no.4, pp.832 - 842

ISSN
1063-6536
DOI
10.1109/TCST.2010.2052362
URI
http://hdl.handle.net/10203/94225
Appears in Collection
RIMS Journal Papers
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