POSITION/FORCE CONTROL OF A 1-DOF SET-UP POWERED BY PNEUMATIC MUSCLES

Aron Pujana-Arrese, Kepa Bastegieta, Anjel Mendizabal, Ramon Prestamero, Joseba Landaluze

2009

Abstract

A one-degree-of-freedom set-up driven by pneumatic muscles was designed and built in order to research the applicability of pneumatic artificial muscles in industrial applications, especially in wearable robots such as exoskeletons. The experimental set-up is very non-linear and very difficult to control properly. This paper describes the control of this mechatronic system’s interaction with its environment, controlling both its position and the force exerted against it. The classic position/force control techniques - hybrid control and impedance control - have been adapted to pneumatic muscles and applied to the experimental set-up developed. An alternative solution is also proposed whereby force or torque control is based on the calculation made by an estimator instead of on direct measurement by a sensor. The article presents a detailed analysis of the force and torque estimator used to close the control loops in the two position/force control schemes. Finally, the article concludes by presenting the experimental results obtained and the most outstanding conclusions of the study as a whole.

Paper Citation

in Harvard Style

Pujana-Arrese A., Bastegieta K., Mendizabal A., Prestamero R. and Landaluze J. (2009). POSITION/FORCE CONTROL OF A 1-DOF SET-UP POWERED BY PNEUMATIC MUSCLES . In Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-674-000-9, pages 228-237. DOI: 10.5220/0002208902280237

in Bibtex Style

@conference{icinco09,
author={Aron Pujana-Arrese and Kepa Bastegieta and Anjel Mendizabal and Ramon Prestamero and Joseba Landaluze},
title={POSITION/FORCE CONTROL OF A 1-DOF SET-UP POWERED BY PNEUMATIC MUSCLES},
booktitle={Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2009},
pages={228-237},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002208902280237},
isbn={978-989-674-000-9},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - POSITION/FORCE CONTROL OF A 1-DOF SET-UP POWERED BY PNEUMATIC MUSCLES
SN - 978-989-674-000-9
AU - Pujana-Arrese A.
AU - Bastegieta K.
AU - Mendizabal A.
AU - Prestamero R.
AU - Landaluze J.
PY - 2009
SP - 228
EP - 237
DO - 10.5220/0002208902280237