Position control for a two-joint robot finger system driven by pneumatic artificial muscles

In this paper, position control is addressed for a two-joint robot finger system driven by pneumatic artificial muscles. It is hard to obtain high precision control for a two-joint robot finger system due to coupling and nonlinearities. A two-input and two-output decoupling problem is solved via act...

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Bibliographic Details
Published in:Transactions of the Institute of Measurement and Control 2018-02, Vol.40 (4), p.1328-1339
Main Authors: Zhao, Ling, Ge, Linlin, Wang, Tao
Format: Article
Language:English
Subjects:
Active control
Artificial muscles
Control systems
Decoupling
Robots
State observers
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Summary:In this paper, position control is addressed for a two-joint robot finger system driven by pneumatic artificial muscles. It is hard to obtain high precision control for a two-joint robot finger system due to coupling and nonlinearities. A two-input and two-output decoupling problem is solved via active disturbance rejection control without complicated calculations. An extended state observer is designed to estimate the nonlinearities. Furthermore, the stability of the two-joint robot finger system is shown by a back-stepping method. Results from experiments are demonstrated to show the effectiveness of the proposed control approach.
ISSN:0142-3312
1477-0369
DOI:10.1177/0142331216683246