한국소음진동공학회:학술대회논문집 (Proceedings of the Korean Society for Noise and Vibration Engineering Conference)
- 한국소음진동공학회 2005년도 춘계학술대회논문집
- /
- Pages.572-575
- /
- 2005
- /
- 1598-2548(pISSN)
MR Brake를 이용한 공압근육매니퓰레이터의 지능제어
Performance Improvement of Pneumatic Artificial Muscle Manipulators using Magneto-Rheological Brake
- Ahn, Kyoung-Kwan ;
- Thanh, T.D.C. ;
- Ahn, Young-Kong
- 발행 : 2005.05.01
초록
A novel pneumatic artificial muscle actuator (PAM actuator), which has achieved increased popularity to provide the advantages such as high strength and high power/weight ratio, low cost, compactness, ease of maintenance, cleanliness, readily available and cheap power source, inherent safety and mobility assistance to humans performing tasks, has been regarded during the recent decades as an interesting alternative to hydraulic and electric actuators. In order to realize satisfactory control performance, a variable damper Magneto Rheological Brake (MRB), Is equipped to the Joint of the manipulator. Superb mixture of conventional PID controller and a phase plane switching control method brings us a novel controller. This proposed controller is appropriate for a kind of plants with nonlinearity, uncertainties and disturbances. The experiments were carried out in practical PAM manipulator and the effectiveness of the proposed control algorithm was demonstrated through experiments, which had proved that the stability of the manipulator can be improved greatly in a high gain control by using MRB with phase plane switching control method and without regard for the changes of external inertia loads.
키워드