Next Article in Journal
Application of a Nonlinear Hammerstein-Wiener Estimator in the Development and Control of a Magnetorheological Fluid Haptic Device for Robotic Bone Biopsy
Previous Article in Journal
A Modeling Strategy for Predicting the Properties of Paraffin Wax Actuators
Open AccessArticle

A Novel Framework for a Systematic Integration of Pneumatic-Muscle-Actuator-Driven Joints into Robotic Systems Via a Torque Control Interface

1
Department of Electrical Engineering and Computer Science, Control Systems Group, Technical University of Berlin, Einsteinufer 17, D-10587 Berlin, Germany
2
Department VII, Electrical Engineering, Mechatronics and Optometry, Beuth Hochschule Berlin University of Applied Science, Luxemburger Straße 10, D-13353 Berlin, Germany
*
Author to whom correspondence should be addressed.
Actuators 2018, 7(4), 82; https://doi.org/10.3390/act7040082
Received: 7 November 2018 / Revised: 21 November 2018 / Accepted: 24 November 2018 / Published: 28 November 2018
In this paper, two different torque control approaches for PMA-driven (PMA = Pneumatic muscle actuator) revolute joints are presented and tested. In previous work controllers for PMA-driven robots are typically customized for the use on a specific robotic system. In contrast, the proposed controllers define a general control interface for every robot that is actuated by PMA-driven joints. It will be shown that controlling the torque of a PMA-driven joint enables the use of standard robotic motion control frameworks, because the torque represents the natural input of the robotic equation of motion. Therefore, both proposed torque control approaches are interconnecting PMAs and their challenging characteristics on the one hand and “conventional” motion control strategies for robots on the other hand. After a detailed discussion of two different torque control approaches, we show that a torque controller handles all characteristics and dynamics of a PMA-driven joint internally, which implies that only its bandwidth and its static torque characteristic must be taken into account for the design of the outer motion control loop. This feature simplifies the integration of PMA-driven joints in robotic systems enormously, as will be demonstrated by a design of a cascade-structured, flatness-based motion controller for an exemplary robot with one degree of freedom. View Full-Text
Keywords: pneumatic muscle actuator (PMA); pneumatic artificial muscle (PAM); pneumatic-muscle-actuator-driven joint; pneumatic system; pneumatic robot pneumatic muscle actuator (PMA); pneumatic artificial muscle (PAM); pneumatic-muscle-actuator-driven joint; pneumatic system; pneumatic robot
Show Figures

Figure 1

MDPI and ACS Style

Martens, M.; Seel, T.; Zawatzki, J.; Boblan, I. A Novel Framework for a Systematic Integration of Pneumatic-Muscle-Actuator-Driven Joints into Robotic Systems Via a Torque Control Interface. Actuators 2018, 7, 82.

Show more citation formats Show less citations formats
Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Article Access Map by Country/Region

1
Back to TopTop