Buradasınız

Anasayfa » Content

Development and Control of a Hybrid Controlled Vertical Climbing Robot Based on Pneumatic Muscle Actuators

Journal Name:

  • Journal of Control Engineering and Technology

Publication Year:

  • 2011

Key Words:

Author NameUniversity of Author
Abstract (2. Language): 
This article presents the development and control of a novel hybrid controlled vertical climbing robot based on Pneumatic Muscle Actuators (PMAs). PMAs are highly non–linear pneumatic actuators where their elongation is proportional to the internal pressure. The vertical sliding of the robot is based on four PMAs and through the combined and sequential contraction–extension of the pneumatic muscles and cylinders, upward and downward movements are executed. For controlling the movement of the robot and to cope with the high non–linearities of the system, a simplified and highly functional hybrid control scheme, based on PID and On/Off control, has been adopted. The efficacy of the proposed scheme is presented through multiple experimental results where it is shown that the utilized controller is able to provide fast (on/off) and accurate (PID) translations to the robot.
Bookmark/Search this post with
FULL TEXT (PDF): 
PDF icon arastrmx_153796_1_pp_53-58.pdf
  • 2
53-58
  • English

REFERENCES

References: 

[1] A. Degani, A. Shapiro, H.C. and M.T. Mason, (2007). “A dynamic single actuator vertical climbing robot.” 2901–2906.
[2] W. M. Shen, J. Gu, and Y. J. Shen. “Proposed wall climbing robot with permanent magnetic tracks for inspecting oil tanks citation.” volume 4, 2005.
[3] T. S. White, R. Alexander, R. G. Callow, A. Cooke, and J. Sargent. “A mobile climbing robot for high precision manufacture and inspection of aerostructures.” International Journal of Robotics Research, 24(7):589–598, 2005.
[4] F. Rochat, P. Schoeneich, B. Luthi, F. Mondada, H. Bleuler, H. Fujimoto, M. Tokhi, H. Mochiyama, and G. Virk. “A simple and miniature climbing robot with advance mobility in ferromagnetic environment.” Aug 2010.
[5] Y. Jiang, H.Wang, L. Fang, and M. Zhao. “Motion planning for climbing robot based on hybrid navigation.” pages 91– 100, 2005.
[6] H. Bingshan, W. Wang, Y. Zhao, and Z. Fu. “A miniature wall climbing robot with biomechanical suction cups.” Industrial Robot: An International Journal, 36(6):551–561, 2009.
[7] D. Caldwell, G. Medrano-Cerda, and M. Goodwin, “Braided pneumatic actuator control of a multi-jointed manipulator,” in Proceedings of the IEEE International Conference on Systems, Man and Cybernetics, Le Touquet, 1993, pp. 423–428.
[8] V. Nickel, J. Perry, and A. Garrett, “Development of useful function in the severely paralyzed hand,” Journal of Bone and Joint Surgery, vol. 45-A, no. 5, pp. 933–952, 1963.
[9] H. Schulte, “The characteristics of the McKibben Artificial Muscle,” in The Application of External Power in Prosthetics and Orthotics, Lake Arrowhead, 1961, pp. 94–115.
[10] G. K. Klute and B. Hannaford, “Modeling Pneumatic McKibben Artificial Muscle Actuators: Approaches and Experimental Results,” ASME Journal of Dynamic Systems, Measurements, and Control, 1999.
[11] ——,“Accounting for elastic energy storage in McKibben artificial muscle actuators,” ASME Journal of Dynamic Systems, Measurement and Control, pp. 386–388, 2000.
[12] J. Yarlott, “Fluid actuator ,” US Patent No. 3 645 173, 1972.
[13] D. Caldwell and N. Tsagarakis, “Biomimetic actuators in prosthetic and rehabilitation applications,” Technology and Health Care, pp. 107– 120, 2002.
[14] H. DeHaven. “Tensioning device for producing a linear pull.” US Patent No. 2483088, 1949.
[15] P. Desmaroux. “Improvements on tubular membranes used as a servo motor.” French Patent No. 951885, 1947.
[16] R. Pierce. “Expansible cover.” US Patent No. 2211478, 1940.
[17] R. H. Galyord, “Fluid Actuated Motor System and Stroking Device.” US Patent no. 2,844,126, 22 July 1958.
[18] P.Warszawska. “Artificial pneumatic muscle.” Dutch patent No. 6704918, 1967.
[19] B. Hannaford and J. M. Winters, “Actuator properties and movement control: biological and technological models,” in Multiple Muscle Systems: Biomechanics and Movement Organization, New York, 1990, pp. 101–120.
[20] G. Andrikopoulos, G. Nikolakopoulos, and S. Manesis, “A Survey on Applications of Pneumatic Artificial Muscles”, in 19th Mediterranean Conference on Control and Automation, June 20-23, Corfu, Greece, 2011.
[21] E. Kelasidi, G. Andrikopoulos, G. Nikolakopoulos, and S. Manesis, “A Survey on Pneumatic Muscle Actuators Modeling”, in 20th IEEE International Symposium on Industrial Electronics (ISIE 2011), Gdansk, Poland, 2011.
[22] B. Tondu and P. Lopez. Modeling and control of mckibben artificial muscle robot actuators. IEEE Control Systems Magazine, 20(2):15–38, 2000.

Thank you for copying data from http://www.arastirmax.com