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 th...