MARC表示: Hysteresis Modelling of Pneumatic Artificial Muscle using General Cubic Equation and Factor Theorem Prediction Method / Mohd Azuwan Mat Dzahir...[et al.]

Hysteresis Modelling of Pneumatic Artificial Muscle using General Cubic Equation and Factor Theorem Prediction Method / Mohd Azuwan Mat Dzahir...[et al.]

Due to inherent hysteresis in a pneumatic artificial muscle, the accompanying control of this compliant actuator becomes more complicated. In literature, only a few implementations of the hysteresis modelling in the associated position control system could be found. In addition, the high complexity...

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主要な著者:	Mat Dzahir, Mohd Azuwan, Mat Dzahir, Mohd Azwarie, Hussein, Mohamed, Ahmad, Zair Asrar, Mohamad, Maziah, Mad Saad, Shaharil
フォーマット:	論文
言語:	English
出版事項:	Faculty of Mechanical Engineering Universiti Teknologi MARA (UiTM) 2017
主題:	TJ Mechanical engineering and machinery Mechanics applied to machinery. Dynamics
オンライン･アクセス:	http://ir.uitm.edu.my/id/eprint/39029/1/39029.pdf http://ir.uitm.edu.my/id/eprint/39029/
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id	my.uitm.ir.39029
record_format	eprints
spelling	my.uitm.ir.390292020-12-16T02:46:08Z http://ir.uitm.edu.my/id/eprint/39029/ Hysteresis Modelling of Pneumatic Artificial Muscle using General Cubic Equation and Factor Theorem Prediction Method / Mohd Azuwan Mat Dzahir...[et al.] Mat Dzahir, Mohd Azuwan Mat Dzahir, Mohd Azwarie Hussein, Mohamed Ahmad, Zair Asrar Mohamad, Maziah Mad Saad, Shaharil TJ Mechanical engineering and machinery Mechanics applied to machinery. Dynamics Due to inherent hysteresis in a pneumatic artificial muscle, the accompanying control of this compliant actuator becomes more complicated. In literature, only a few implementations of the hysteresis modelling in the associated position control system could be found. In addition, the high complexity of the contraction-force and contraction-pressure models when accounting for hysteresis effect, the implementation of such model is limited in its use in the pneumatic muscle position control only. However, implementing a complicated control algorithm does not always indicate the best solution that could be used to control the pneumatic artificial muscles. There are arguments in the field of rehabilitation robotics regarding what was the best control system to the orthotic problem for rehabilitation. It is preferred that the control system should be simplified as much as possible; multiple sensors and impedances are only increase the complexity of the control system. Rather than using a very complicated algorithm for control system of the pneumatic artificial muscle, a simple and noble prediction method using general cubic equation and factor theorem is proposed for the hysteresis modelling at different loads. The methodology used to establish the hysteresis modelling and prediction method of the pneumatic artificial muscle are as follows; first is the characterization of the pneumatic artificial muscle at different loads and pressures; second is to develop a prediction method for generating constraint models of hysteresis data at a different loads using general cubic equation and factor theorem; third is to establish a simple theorem or algorithm to extract the hysteresis models (i.e., contraction and expansion) of a pneumatic artificial muscle at different loads based on the generated constraint models; and the final stage of the research is to obtain the hysteresis models at different loads. The generated hysteresis models and hysteresis data obtained from experimental study were compared to verify the reliability of the proposed hysteresis modelling prediction method. The simulation results shows that the hysteresis modelling was able to generate an apropriate constraint models at a different loads. Faculty of Mechanical Engineering Universiti Teknologi MARA (UiTM) 2017 Article PeerReviewed text en http://ir.uitm.edu.my/id/eprint/39029/1/39029.pdf Mat Dzahir, Mohd Azuwan and Mat Dzahir, Mohd Azwarie and Hussein, Mohamed and Ahmad, Zair Asrar and Mohamad, Maziah and Mad Saad, Shaharil (2017) Hysteresis Modelling of Pneumatic Artificial Muscle using General Cubic Equation and Factor Theorem Prediction Method / Mohd Azuwan Mat Dzahir...[et al.]. Journal of Mechanical Engineering (JMechE), SI 4 (2). pp. 1-21. ISSN 18235514
institution	Universiti Teknologi Mara
building	Tun Abdul Razak Library
collection	Institutional Repository
continent	Asia
country	Malaysia
content_provider	Universiti Teknologi Mara
content_source	UiTM Institutional Repository
url_provider	http://ir.uitm.edu.my/
language	English
topic	TJ Mechanical engineering and machinery Mechanics applied to machinery. Dynamics
spellingShingle	TJ Mechanical engineering and machinery Mechanics applied to machinery. Dynamics Mat Dzahir, Mohd Azuwan Mat Dzahir, Mohd Azwarie Hussein, Mohamed Ahmad, Zair Asrar Mohamad, Maziah Mad Saad, Shaharil Hysteresis Modelling of Pneumatic Artificial Muscle using General Cubic Equation and Factor Theorem Prediction Method / Mohd Azuwan Mat Dzahir...[et al.]
description	Due to inherent hysteresis in a pneumatic artificial muscle, the accompanying control of this compliant actuator becomes more complicated. In literature, only a few implementations of the hysteresis modelling in the associated position control system could be found. In addition, the high complexity of the contraction-force and contraction-pressure models when accounting for hysteresis effect, the implementation of such model is limited in its use in the pneumatic muscle position control only. However, implementing a complicated control algorithm does not always indicate the best solution that could be used to control the pneumatic artificial muscles. There are arguments in the field of rehabilitation robotics regarding what was the best control system to the orthotic problem for rehabilitation. It is preferred that the control system should be simplified as much as possible; multiple sensors and impedances are only increase the complexity of the control system. Rather than using a very complicated algorithm for control system of the pneumatic artificial muscle, a simple and noble prediction method using general cubic equation and factor theorem is proposed for the hysteresis modelling at different loads. The methodology used to establish the hysteresis modelling and prediction method of the pneumatic artificial muscle are as follows; first is the characterization of the pneumatic artificial muscle at different loads and pressures; second is to develop a prediction method for generating constraint models of hysteresis data at a different loads using general cubic equation and factor theorem; third is to establish a simple theorem or algorithm to extract the hysteresis models (i.e., contraction and expansion) of a pneumatic artificial muscle at different loads based on the generated constraint models; and the final stage of the research is to obtain the hysteresis models at different loads. The generated hysteresis models and hysteresis data obtained from experimental study were compared to verify the reliability of the proposed hysteresis modelling prediction method. The simulation results shows that the hysteresis modelling was able to generate an apropriate constraint models at a different loads.
format	Article
author	Mat Dzahir, Mohd Azuwan Mat Dzahir, Mohd Azwarie Hussein, Mohamed Ahmad, Zair Asrar Mohamad, Maziah Mad Saad, Shaharil
author_facet	Mat Dzahir, Mohd Azuwan Mat Dzahir, Mohd Azwarie Hussein, Mohamed Ahmad, Zair Asrar Mohamad, Maziah Mad Saad, Shaharil
author_sort	Mat Dzahir, Mohd Azuwan
title	Hysteresis Modelling of Pneumatic Artificial Muscle using General Cubic Equation and Factor Theorem Prediction Method / Mohd Azuwan Mat Dzahir...[et al.]
title_short	Hysteresis Modelling of Pneumatic Artificial Muscle using General Cubic Equation and Factor Theorem Prediction Method / Mohd Azuwan Mat Dzahir...[et al.]
title_full	Hysteresis Modelling of Pneumatic Artificial Muscle using General Cubic Equation and Factor Theorem Prediction Method / Mohd Azuwan Mat Dzahir...[et al.]
title_fullStr	Hysteresis Modelling of Pneumatic Artificial Muscle using General Cubic Equation and Factor Theorem Prediction Method / Mohd Azuwan Mat Dzahir...[et al.]
title_full_unstemmed	Hysteresis Modelling of Pneumatic Artificial Muscle using General Cubic Equation and Factor Theorem Prediction Method / Mohd Azuwan Mat Dzahir...[et al.]
title_sort	hysteresis modelling of pneumatic artificial muscle using general cubic equation and factor theorem prediction method / mohd azuwan mat dzahir...[et al.]
publisher	Faculty of Mechanical Engineering Universiti Teknologi MARA (UiTM)
publishDate	2017
url	http://ir.uitm.edu.my/id/eprint/39029/1/39029.pdf http://ir.uitm.edu.my/id/eprint/39029/
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score	13.251813

Hysteresis Modelling of Pneumatic Artificial Muscle using General Cubic Equation and Factor Theorem Prediction Method / Mohd Azuwan Mat Dzahir...[et al.]

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