Position/vibration control of two-degree-of-freedom arms having one flexible link with artificial pneumatic muscle actuators

No Cheol Park, Hyun Seok Yang, Hyung Wug Park, Young Pil Park

Research output: Contribution to journalArticle

32 Citations (Scopus)

Abstract

A manipulator with a light and thus flexible link would be advantageous over a rigid link in the sense that it is physically safer when it comes into contact with its environment than a manipulator with a rigid and thus heavy link, even though it is harder for a flexible link manipulator to be robustly controlled. On the other hand, if an actuator can deliver enough force while maintaining proper compliance, it would be advantageous for the sake of safety. An artificial pneumatic muscle-type actuator is an adequate choice in this case. In this work, position control problem of a two-degree-of-freedom arm system having a flexible second link with artificial pneumatic muscle-type actuators is addressed. A composite controller design method is proposed in the framework of the singular perturbation method. Various robust control schemes are designed in order to meet with payload variation, parameter uncertainty, unmodeled vibration mode, actuator dynamics both in the slow and the fast subsystems.

Original languageEnglish
Pages (from-to)239-253
Number of pages15
JournalRobotics and Autonomous Systems
Volume40
Issue number4
DOIs
Publication statusPublished - 2002 Sep 30

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Software
  • Mathematics(all)
  • Computer Science Applications

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