Intelligent phase plane switching control of pneumatic artificial muscle manipulators with magneto-rheological brake

摘要

The pneumatic artificial muscle (PAM) is undoubtedly the most promising artificial muscle for the actuation of new types of industrial robots such as rubber actuator and PAM manipulators because it provides these advantages such as high strength and high power/ weight ratio, low cost, compactness, ease of maintenance, cleanliness, readily available and cheap power source, inherent safety and mobility assistance to humans performing tasks. However, some limitations still exist, such as the air compressibility and the lack of damping ability of the actuator bring the dynamic delay of the pressure response and cause the oscillatory motion. In addition, the non-linearities in the PAM manipulator still limit the controllability. Therefore, it is not easy to realize motion with high accuracy and high speed and with respect to various external inertia loads in order to realize a human-friendly therapy robot. To overcome these problems a novel controller which harmonizes a phase plane switching control method (PPSC) with conventional PID controller and the adaptabilities of neural network, is newly proposed. In order to realize satisfactory control performance a variable damper, magneto-rheological brake (MRB), is equipped to the joint of the manipulator. Superb mixture of conventional PID controller and an intelligent phase plane switching control using neural network (IPPSC) brings us a novel controller. The experiments were carried out in practical PAM manipulator and the effectiveness of the proposed control algorithm was demonstrated through experiments, which had proved that the stability of the manipulator can be improved greatly in a high gain control by using MRB with IPPSC and without regard for the changes of external inertia loads.