Position Control for the Spherical Joint Driven by PMAs

DOI

10.2991/mems.2012.35How to use a DOI?

Keywords

PMA;spherical joint; position control;ADRC

Abstract

A spherical joint system driven by pneumatic artificial muscle is constructed. As pneumatic artificial muscle has strong nonlinear characteristics and traditional control methods are hard to overcome the contradictions among control precision, adjusting speed and stability, the 2 order auto-disturbancerejection controller is introduced. The position control of the spherical joint can be realized by auto-disturbance-rejection controller or PID controller. The experimental results show that auto-disturbance-rejection controller can achieve better control effect than PID controller with steady precision less than 0.4°.

Copyright

© 2012, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Huang Qing-shan
AU  - Chen Jin-bing
PY  - 2012/12
DA  - 2012/12
TI  - Position Control for the Spherical Joint Driven by PMAs
BT  - Proceedings of the 1st International Conference on Mechanical Engineering and Material Science (MEMS 2012)
PB  - Atlantis Press
SP  - 128
EP  - 130
SN  - 1951-6851
UR  - https://doi.org/10.2991/mems.2012.35
DO  - 10.2991/mems.2012.35
ID  - Qing-shan2012/12
ER  -