摘要
针对气动人工肌肉(PAM)驱动器,将机器人受驱关节的转角位置误差、位置误差变化速率和负载变化等,作为控制器的内环反馈量,建立了一种能自适应调节比例压力阀输入控制量大小的算法,模拟人类手臂两点间的运动特点,同时通过外环反馈的角位置,控制电磁开关阀的开合,使受控关节能快捷、稳定和准确地定位于目标位置,解决了由于气体的可压缩性,以及PAM自身的粘滞弹性等固有问题,带给PAM驱动器难以准确定位控制的难题。
The position errors, position error rates and payload variations are taken as the feedback in the inner loop of the controller of the actuators of joint rotations in a pneumatic artificial muscle （PAM） driven robot. The algorithm is presented to adaptively regulate the input signals of the proportional pressure valve and to mimic the point-to-point movement of human arm. The algorithm utilizes the angular position information in the outer feedback loop to switch the solenoid valve to get a rapid damping of the non-oscillatory motion and to bring the joints to the desired position quickly and accurately. The proposed method appears to be effective in overcoming some inherent drawbacks that arise from the viscoelastic shell and air compressibility of the PAM element.
出处
《控制工程》
CSCD
北大核心
2011年第6期868-871,876,共5页
Control Engineering of China
基金
国家自然科学基金资助项目(30770559)
山东省自然科学基金资助项目(Y2008G17)
关键词
气动人工肌肉
外骨骼机器人
定位控制
pneumatic artificial muscle
exoskeletie robot
non-oscillatory and position controls
