Abstract
Pneumatic muscle actuator(PMA) is the research focus of bionic robot.Therefore,a triaxial-ball universal joint robot driven by the PMA group is designed.The kinematics of the robot is analysed.On the basis of its kinematics analysis,the position control strategy of the PMA group is proposed.Based on the kinematics analysis and the energy saving principle,the contact force control strategy of the PMA group is proposed.An impedance control scheme with inner position PID loop is designed for the PMA group.Results show that under position control only,the control accuracy is higher than impedance control and the steady-error is less than 0.3°,however,the contact force is out of control.Impedance control sacrifices a certain degree of position control accuracy but can realize compliant control of contact force.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
