Abstract
This study discusses a circular trajectory tracking function through a proposed pneumatic artificial muscle (PAM)-actuated robot manipulator. First, a dynamic model between a robot arm and a PAM cylinder is introduced. Then the parameters thereof are identified through a genetic algorithm (GA). Finally, PID is used along with a high-order sliding-mode feedback controller to perform circular trajectory tracking. As the experimental results show, the parameters of sampling time and moment of inertia are set to accomplish the trajectory tracking task in this study. In addition, the maximum error between the objective locus and the following locus was 11.3035 mm when applying theta-axis control to the circular trajectory of the robot arm with zero load or lower load. In an experiment of controller comparison, the results demonstrate that a high-order sliding-mode feedback controller is more robust in resisting external interference and the uncertainty of modeling, making the robot arm have good performance when tracking.
Highlights
In recent years, with the rise of interdisciplinary concepts and the trend toward mechanical automation, automated robots have gradually begun to stand out in various industrial markets, such as service and medical treatment
The electromechanical system and structure of the robot arm used in this research is shown in Figure 1: the control terminal consists of a host and a real-time monitoring system, where Windows OS is applied in the host and LabVIEW is used to compile the real-time monitoring program to communicate with the embedded controller
The concept of design of a robot arm in this study mainly aims at executing the planar motion for rehabilitation, in which the robot arm consists of three connecting rods
Summary
With the rise of interdisciplinary concepts and the trend toward mechanical automation, automated robots have gradually begun to stand out in various industrial markets, such as service and medical treatment. Since there are still many machines using a gear reducer and motor as drivers in the medical field, it is often easy to directly apply force to the patient, causing secondary injuries, where the purpose of the motion trajectory is to implement rehabilitation on the patient’s elbow and shoulder. McKibben-type PAM cylinders have rubber hoses on the inside and are covered with a fabric mesh on the outside. The concept of design of a robot arm in this study mainly aims at executing the planar motion for rehabilitation, in which the robot arm consists of three connecting rods. To maintain the end effector on the same planar level, the timing belt is used to connect the
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