Cart (Loading....) | Create Account
Close category search window
 

Adaptive Robust Posture Control of a Pneumatic Muscles Driven Parallel Manipulator with Redundancy

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
Guoliang Tao ; Zhejiang Univ., Hangzhou ; Xiaocong Zhu ; Bin Yao ; Jian Cao

This paper presents an adaptive robust posture controller for a pneumatic muscles driven parallel manipulator with a redundant degree-of-freedom (DOF). The symmetric geometric structure of the parallel manipulator driven by identical pneumatic muscles studied in this paper makes the rotation angle of the manipulator along its axial direction negligible and a non-factor in using the manipulator. As such, the axial rotation angle is normally not measured and controlled when these types of manipulator are used in practice, leading to a single DOF redundancy in synthesizing the precise posture controller for rotation angles along other axes. To make full use of this redundancy as well as effectively tackle severe uncertainties in the system dynamics, an equivalent average-stiffness-like desired constraint is introduced in the development of adaptive robust posture controller to achieve precise posture tracking while reducing control chattering due to measurement noise. Experimental results are obtained to verify the validity of the proposed controller for the pneumatic muscles driven redundant parallel manipulator.

Published in:

American Control Conference, 2007. ACC '07

Date of Conference:

9-13 July 2007

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.