Position control for a two-joint robot finger system driven by pneumatic artificial muscles-Reference-Cited by-同舟云学术

Position control for a two-joint robot finger system driven by pneumatic artificial muscles

Published:2017-02-08 Issue:4 Volume:40 Page:1328-1339
ISSN:0142-3312
Container-title:Transactions of the Institute of Measurement and Control
language:en
Short-container-title:Transactions of the Institute of Measurement and Control

Author:

Zhao Ling¹,Ge Linlin¹,Wang Tao²

Affiliation:

1. Hebei Province Key Laboratory of Heavy Machinery Fluid Power Transmission and Control, College of Mechanical Engineering, Yanshan University, Qinhuangdao, China

2. School of Automation, Beijing Institute of Technology, Beijing, China

Abstract

In this paper, position control is addressed for a two-joint robot finger system driven by pneumatic artificial muscles. It is hard to obtain high precision control for a two-joint robot finger system due to coupling and nonlinearities. A two-input and two-output decoupling problem is solved via active disturbance rejection control without complicated calculations. An extended state observer is designed to estimate the nonlinearities. Furthermore, the stability of the two-joint robot finger system is shown by a back-stepping method. Results from experiments are demonstrated to show the effectiveness of the proposed control approach.

Publisher

SAGE Publications

Subject

Instrumentation

Link

http://journals.sagepub.com/doi/pdf/10.1177/0142331216683246

Reference33 articles.

1. Design and implementation of an adaptive recurrent neural networks (ARNN) controller of the pneumatic artificial muscle (PAM) manipulator

2. Intelligent switching control of a pneumatic muscle robot arm using learning vector quantization neural network

3. Nonlinear Robust Control of Tendon–Driven Robot Manipulators

4. Extended active observer for force estimation and disturbance rejection of robotic manipulators

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