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Fan Wei
School of Mechanics and
Vehicle Engineering,
Beijing Institute of Technology,
Beijing 100081, China
Peng Guangzheng
Chai Senchun
School of Information
Technology,
Beijing Institute of
Technology,
Beijing 100081, China
Ning Ruxin
School of Mechanics and
Vehicle Engineering,
Beijing Institute of Technology,
Beijing 100081, China
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STUDY ON THE CONTROL OF SINGLE
PNEUMATIC MUSCLE ACTUATOR*
Abstract:
The control of single pneumatic muscle actuator is studied, as one basic part of research on the parallel-robot arthrosis actuated by pneumatic muscle actuators. Experiments show that a self-modified fuzzy-PID controller is obviously effective for its position servo and a simple PID controller is good for its force track.
Key words: Pneumatic muscle actuator Position servo Force
track Self-modified fuzzy Fuzzy-PID |