Research on PSA-MFAC for a novel bionic elbow joint system actuated by pneumatic artificial muscles
作者: Hui YangChaoqun XiangLina HaoLiangliang ZhaoBangcan Xue
作者单位: 1Northeastern University
刊名: Journal of Mechanical Science and Technology, 2017, Vol.31 (7), pp.3519-3529
来源数据库: Springer Journal
DOI: 10.1007/s12206-017-0640-0
关键词: PAMBionic elbow jointInverse kinematics modelPSA-MFAC
英文摘要: A 3-DOF bionic elbow joint actuated by Pneumatic artificial muscle (PAM) was designed in this paper, and its inverse kinematics model was also established. Then, based on the Model-free adaptive control (MFAC) theory and the effects of control parameters to the control system, a Parameter self-adjust Model-free adaptive control (PSA-MFAC) strategy was proposed, and its adaptability for different control objects was also tested in simulation environment. Combined with the inverse kinematics model, motion control experiments of the bionic elbow joint were conducted in semi-physical platform. Compared with conventional MFAC and PID control algorithm, the experiment results strongly verified the improvement of PSA-MFAC control accuracy. The tracking accuracy of conventional MFAC and PID...
原始语种摘要: A 3-DOF bionic elbow joint actuated by Pneumatic artificial muscle (PAM) was designed in this paper, and its inverse kinematics model was also established. Then, based on the Model-free adaptive control (MFAC) theory and the effects of control parameters to the control system, a Parameter self-adjust Model-free adaptive control (PSA-MFAC) strategy was proposed, and its adaptability for different control objects was also tested in simulation environment. Combined with the inverse kinematics model, motion control experiments of the bionic elbow joint were conducted in semi-physical platform. Compared with conventional MFAC and PID control algorithm, the experiment results strongly verified the improvement of PSA-MFAC control accuracy. The tracking accuracy of conventional MFAC and PID...
全文获取路径: Springer  (合作)
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来源刊物:
影响因子:0.616 (2012)

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关键词翻译
关键词翻译
  • actuated 动作的
  • bionic 仿生
  • kinematics 运动学
  • artificial 人为的
  • pneumatic 气动的
  • elbow 弯管
  • PSA 被保护的存储器地址
  • joint 节理
  • control 控制
  • system