제어로봇시스템학회:학술대회논문집
- 1997.10a
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- Pages.1704-1707
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- 1997
Robust control of a flexible manipulator with artificial pneumatic muscle actuators
유연한 공압인공근육로봇의 강건제어
Abstract
In this work, position and vibratiion control of a two-link manipulator with one flexible link, which an unkoun but bounded payload mass and two pair of artificial muscle-type penumatic actuators, are investgated. A flexible link robot has advantages over a figid link robot in the sense that it is much safer when it cones into contact with its environment, including humans. Furthermore, for the sake of safety, it would be more desirabel if an actuator could deliver required force while maintaining proper compliance. An artificial muscle-type penumatic actuator is adequate for such cases. In this study, a controller based on singular perturbation method, adaptive and sliding mode contro, and .mu.-synthesis is developed. The effectiveness of the proposed control scheme is confirmed through simulations and experiments.
Keywords
- flexible link;
- a artificial muscle-type actuator;
- a singular perturbation;
- a adaptive control;
- a sliding mode control;
- a robust control