Sliding mode control of a "Soft" 2-DOF Planar Pneumatic Manipulator

被引：12
|
作者：
Van Damme, M. [1 ]
Vanderborght, B. [1 ]
Beyl, P. [1 ]
Versluys, R. [1 ]
Vanderniepen, I. [1 ]
Van Ham, R. [1 ]
Cherelle, P. [1 ]
Daerden, F. [1 ]
Lefeber, D. [1 ]
机构：
[1] Vrije Univ Brussel, Dept Mech Engn, Robot & Multibody Mech Res Grp, B-1050 Brussels, Belgium
来源：
INTERNATIONAL APPLIED MECHANICS | 2008年 / 44卷 / 10期
关键词：
Soft; 2-DOF; planar pneumatic manipulator; sliding mode controller; artificial muscle actuator;
D O I：
10.1007/s10778-009-0134-6
中图分类号：
O3 [力学];
学科分类号：
08 ; 0801 ;
摘要：
This paper presents a sliding mode controller for a "Soft" 2-DOF Planar Pneumatic Manipulator actuated by pleated pneumatic artificial muscle actuators. Since actuator dynamics is not negligible, an approximate model for pressure dynamics was taken into account, which made it necessary to perform full input-output feedback linearization in order to design a sliding mode controller. The design of the controller is presented in detail, and experimental results obtained by implementing the controller are discussed.
引用
收藏
页码：1191 / 1199
页数：9
相关论文
共 50 条
  • [1] Sliding mode control of a “Soft” 2-DOF Planar Pneumatic Manipulator
    M. Van Damme
    B. Vanderborght
    P. Beyl
    R. Versluys
    I. Vanderniepen
    R. Van Ham
    P. Cherelle
    F. Daerden
    D. Lefeber
    [J]. International Applied Mechanics, 2008, 44 : 1191 - 1199
  • [2] Design of a "soft" 2-DOF planar pneumatic manipulator
    Van Damme, M.
    Van Ham, R.
    Vanderborght, B.
    Daerden, F.
    Lefeber, D.
    [J]. CLIMBING AND WALKING ROBOTS, 2006, : 559 - 566
  • [3] Sliding Mode Control of a 2DOF Planar Pneumatic Manipulator
    Van Damme, Michael
    Vanderborght, Bram
    Van Ham, Ronald
    Verrelst, Bjorn
    Daerden, Frank
    Lefeber, Dirk
    [J]. JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME, 2009, 131 (02): : 1 - 12
  • [4] Modeling and control of 2-DOF underwater planar manipulator
    Suboh, Surina Mat
    Rahman, Irfan Abd
    Arshad, Mohd Rizal
    Mahyuddin, Muhammad Nasiruddin
    [J]. INDIAN JOURNAL OF MARINE SCIENCES, 2009, 38 (03): : 365 - 371
  • [5] Variable structure control based on sliding mode for a 2-DOF underactuated robot manipulator
    Lin, Zhuang
    Zhu, Qidan
    Cai, Chengtao
    [J]. WCICA 2006: SIXTH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION, VOLS 1-12, CONFERENCE PROCEEDINGS, 2006, : 2029 - +
  • [6] Proxy-based sliding mode control of a planar pneumatic manipulator
    Van Damme, Michäel
    Vanderborght, Bram
    Verrelst, Bjorn
    Van Ham, Ronald
    Daerden, Frank
    Lefeber, Dirk
    [J]. International Journal of Robotics Research, 2009, 28 (02): : 266 - 284
  • [7] Modeling, identification and control of a redundant planar 2-DOF parallel manipulator
    Department of Automation, University of Science and Technology of China, Hefei P. O. Box 4, Anhui 230027, China
    不详
    不详
    [J]. Int. J. Control Autom. Syst., 2007, 5 (559-569):
  • [8] Modeling, identification and control of a redundant planar 2-dof parallel manipulator
    Zhang, Yao-Xin
    Cong, Shuang
    Shang, Wei-Wei
    Li, Ze-Xiang
    Jiang, Shi-Long
    [J]. INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS, 2007, 5 (05) : 559 - 569
  • [9] 2-DOF Robot Manipulator Control Using Fuzzy PD Control With SimMechanics and Sliding Mode Control: A Comparative Study
    Naik, Prabhas Ranjan
    Samantaray, Jagannath
    Roy, B. K.
    Pattanayak, S. K.
    [J]. 2015 INTERNATIONAL CONFERENCE ON ENERGY, POWER AND ENVIRONMENT: TOWARDS SUSTAINABLE GROWTH (ICEPE), 2015,
  • [10] Sliding mode controller for a 2 dof fully pneumatic parallel kinematic manipulator
    Giberti, Hermes
    Cinquemani, Simone
    [J]. IMETI 2011: 4TH INTERNATIONAL MULTI-CONFERENCE ON ENGINEERING AND TECHNOLOGICAL INNOVATION, VOL II, 2011, : 98 - 103
12345