Abstract
AbstractIn this paper a new method for the force control of a parallel platform consisting of six fluidic‐muscles of type RRPS is presented. Fluidic muscles require that the gas model as well as the rubber nonlinearities are included in the control scheme. Moreover, the control law for the gas flow in the proportional directional control valve in 3/3‐way function needs to be taken into account. The present paper describes the basic dynamic models as well as testbed results for the existing fluidic‐muscle parallel platform “HexaSpine” [3]. Here each leg is equipped with a force sensor, a pressure sensor and a magnetostrictive position encoder. The control scheme for the platform comprises six control loops for the six operated actuators with a model based force control each. It is shown that the aforementioned control scheme leads to a stable force control of the platform driven by fluidic muscles. As an application, the device will be employed in fields of biomechanics, as well as in general environments requiring physical simulation. (© 2008 WILEY‐VCH Verlag GmbH & Co. KGaA, Weinheim)
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