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Cascaded control concept of a robot with two degrees of freedom driven by four artificial pneumatic muscle actuators

: Hildebrandt, A.; Sawodny, O.; Neumann, R.; Hartmann, A.


American Automatic Control Council; International Federation of Automatic Control -IFAC-:
American Control Conference, ACC 2005. Proceedings. Vol.1 : June 8 - June 10, 2005, Hilton Portland & Executive Tower. Portland, Oregon
Piscataway, NJ: IEEE Service Center, 2005
ISBN: 0-7803-9098-9
ISBN: 0-7803-9099-7
American Control Conference (ACC) <2005, Portland/Or.>
Fraunhofer IITB ( IOSB) ()

Pneumatic muscles are interesting in their use as actuators in robotics, since they have a high power/weight ratio, a high-tension force and a long durability. This paper presents a two-axis planar articulated robot, which is driven by four pneumatic muscles. Every actuator is supplied by one electronic servo valve in 3/3-way function. Part of this work is the derivation of the model description, which describes a high nonlinear dynamic behavior of the robot. Main focus is the physical model for the pneumatic muscle and a detailed model description for the servo valves. The aim is to control the tool center point (TCP) of the manipulator, which bases here on a fast subsidiary torque regulator of the drive system compensating the nonlinear effects. As the robot represents a MIMO system, a second control objective is defined, which corresponds here to the average pressure of each muscle-pair. An optimisation-strategy is presented to meet the maximum stiffness of the controlled drive system. As the torque controller assures a fast linear input/output behavior, a standardized controller is implemented which bases here on the Computed Torque Method to track the TCP. Measurement results show the efficiency of the presented cascaded control concept.