Active control of a robotic arm with pneumatic artificial muscle actuator

• Main Authors: Jahanabadi, Hossein, Mailah, Musa, Md. Zain, Mohd. Zarhamdy
• Format: Conference or Workshop Item
• Language: English
• Published: 2009
• Subjects: TJ Mechanical engineering and machinery
• Online Access: http://eprints.utm.my/id/eprint/12647/1/HosseinJahanabadi2008_ActiveControlofaRoboticArmwithPneumatic.pdf; http://eprints.utm.my/id/eprint/12647/; http://dms.library.utm.my:8080/vital/access/manager/Repository/vital:98812

The paper is on the control of a robotic arm actuated by a pneumatic artificial muscle (PAM) system. A conventional proportional-integral-derivative (PID) controller with active force control (AFC) is employed to control the robot arm assigned to operate a prescribed task. Simulation results show the effectiveness of the proposed control strategy compared to the PID control only scheme. The results of the simulation study demonstrate the intense robustness and effectiveness of the proposed control scheme in countering the loading and operating conditions compared to the PID control scheme.