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Practical active force control with iterative learning scheme applied to a pneumatic artificial muscle actuated robotic arm

The precise motion control of a pneumatic artificial muscle (PAM) actuated system poses a great challenge to researchers due to the inherent nonlinearities, time-varying parameters, and high sensitivity to payload of the PAM mechanism. This paper highlights the effective practical implementation of...

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Main Authors: Mailah, Musa, Hooi, H. M., Kazi, Suhail, Jahanabadi, Hossein
Format: Article
Published: 2012
Subjects:
TJ Mechanical engineering and machinery
Online Access:http://eprints.utm.my/id/eprint/47396/
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spelling my.utm.473962019-04-25T01:18:39Z http://eprints.utm.my/id/eprint/47396/ Practical active force control with iterative learning scheme applied to a pneumatic artificial muscle actuated robotic arm Mailah, Musa Hooi, H. M. Kazi, Suhail Jahanabadi, Hossein TJ Mechanical engineering and machinery The precise motion control of a pneumatic artificial muscle (PAM) actuated system poses a great challenge to researchers due to the inherent nonlinearities, time-varying parameters, and high sensitivity to payload of the PAM mechanism. This paper highlights the effective practical implementation of an active force control (AFC) technique incorporating an iterative learning (IL) algorithm known as AFCAIL applied to a two-link planar robotic arm actuated by a pair of PAMs. The iterative learning is primarily used as a technique to compute the best value of the estimated inertia matrix of the robot arm required for the AFC loop that is complemented with a conventional proportional-integral-derivative (PID) control. An experimental rig utilizing a hardware-in-the-loop simulation (HILS) configuration was designed and developed based on suitable hardware and software installation. A number of experiments were carried out to validate the theoretical counterpart considering the independent joint control and coordinated motion control of the system for a given operating and loading conditions. The results of the experimental works verify the effectiveness and robustness of the proposed PAM actuated AFCAIL scheme in executing a number of trajectory tracking tasks. 2012 Article PeerReviewed Mailah, Musa and Hooi, H. M. and Kazi, Suhail and Jahanabadi, Hossein (2012) Practical active force control with iterative learning scheme applied to a pneumatic artificial muscle actuated robotic arm. International Journal Of Mechanics, 6 (1). pp. 88-96. ISSN 1998-4448
institution Universiti Teknologi Malaysia
building UTM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Teknologi Malaysia
content_source UTM Institutional Repository
url_provider http://eprints.utm.my/
topic TJ Mechanical engineering and machinery
spellingShingle TJ Mechanical engineering and machinery
Mailah, Musa
Hooi, H. M.
Kazi, Suhail
Jahanabadi, Hossein
Practical active force control with iterative learning scheme applied to a pneumatic artificial muscle actuated robotic arm
description The precise motion control of a pneumatic artificial muscle (PAM) actuated system poses a great challenge to researchers due to the inherent nonlinearities, time-varying parameters, and high sensitivity to payload of the PAM mechanism. This paper highlights the effective practical implementation of an active force control (AFC) technique incorporating an iterative learning (IL) algorithm known as AFCAIL applied to a two-link planar robotic arm actuated by a pair of PAMs. The iterative learning is primarily used as a technique to compute the best value of the estimated inertia matrix of the robot arm required for the AFC loop that is complemented with a conventional proportional-integral-derivative (PID) control. An experimental rig utilizing a hardware-in-the-loop simulation (HILS) configuration was designed and developed based on suitable hardware and software installation. A number of experiments were carried out to validate the theoretical counterpart considering the independent joint control and coordinated motion control of the system for a given operating and loading conditions. The results of the experimental works verify the effectiveness and robustness of the proposed PAM actuated AFCAIL scheme in executing a number of trajectory tracking tasks.
format Article
author Mailah, Musa
Hooi, H. M.
Kazi, Suhail
Jahanabadi, Hossein
author_facet Mailah, Musa
Hooi, H. M.
Kazi, Suhail
Jahanabadi, Hossein
author_sort Mailah, Musa
title Practical active force control with iterative learning scheme applied to a pneumatic artificial muscle actuated robotic arm
title_short Practical active force control with iterative learning scheme applied to a pneumatic artificial muscle actuated robotic arm
title_full Practical active force control with iterative learning scheme applied to a pneumatic artificial muscle actuated robotic arm
title_fullStr Practical active force control with iterative learning scheme applied to a pneumatic artificial muscle actuated robotic arm
title_full_unstemmed Practical active force control with iterative learning scheme applied to a pneumatic artificial muscle actuated robotic arm
title_sort practical active force control with iterative learning scheme applied to a pneumatic artificial muscle actuated robotic arm
publishDate 2012
url http://eprints.utm.my/id/eprint/47396/
_version_ 1643652306132008960
score 13.211869

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