淡江大學機構典藏:Item 987654321/122315
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    Please use this identifier to cite or link to this item: https://tkuir.lib.tku.edu.tw/dspace/handle/987654321/122315


    Title: Design and Control of 6-DOF Robotic Manipulator Driven by Pneumatic Muscles and Motor
    Authors: L.W. Lee;L.Y. Lu;I.H. Li;C.-W. Lee;T.-J. Su
    Keywords: serial manipulator arm;smooth control;pneumatic-muscle actuator;linear extended state observer;novel proxy-based sliding mode control
    Date: 2021-09-10
    Issue Date: 2022-03-02 12:13:48 (UTC+8)
    Publisher: Sensors and Materials
    Abstract: A pneumatic-muscle actuator (PMA) is made of a unique material with fibers wrapped inside and metal fittings attached at each end. Because of reversible physical deformation, a PMA can produce linear motion during contraction and muscle expansion. We use a PMA and motors’ hybrid drivers to implement a low-cost and safe robot manipulator with six degrees of freedom (6-DOF). Safety is achieved by applying a novel proxy-based sliding mode controller (NPSMC) and a linear extended state observer (LESO) on each joint of the 6-DOF robot manipulator. The NPSMC can compensate the six joints of the 6-DOF robot manipulator reaching Lyapunov stability, and we prove that their pathing errors converge to a neighborhood of zero. An experiment on all joints is conducted to verify the trajectory pathing precision and system safety for the 6-DOF robot manipulator. The experimental results show that under NPSMC compensation and the LESO estimate, the 6-DOF robot manipulator using the hybrid drivers satisfies both the pathing performance demands and safety control.
    Relation: Sensors and Materials 33(9), p.3081-3100
    DOI: 10.18494/SAM.2021.3250
    Appears in Collections:[Graduate Institute & Department of Mechanical and Electro-Mechanical Engineering] Journal Article

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