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Compliance characteristic and force control of antagonistic actuation by pneumatic artificial muscles

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Abstract

This paper presents compliance characteristics of antagonistic actuation by the pair of Mckibben pneumatic artificial muscles and force tracking using a sliding control scheme for safe human-robot interaction. The variable stiffness capability of artificial muscles was investigated carefully by resilience tests from a biased initial position and impact tests based on an intended collision between a stationary object and a rotating linkage actuated by pneumatic artificial muscles. Considering the frequency response analysis of a whole pneumatic circuit for artificial muscles, a sliding control system was designed to control contacting force between a linkage actuated by artificial muscles and a rigid environment. Experimental results showed that the proposed force control scheme gave better tracking performance under model uncertainties due to air flow than the conventional PID controller whose feedback gains were well-tuned experimentally.

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Acknowledgements

This work was supported by the 2013 research fund of National Research Foundation of Korea (2013R1A1A2012558). The author acknowledged Si-Bok Lee, an undergraduate student for his enormous help to experimental works.

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  1. Department of Mechanical Engineering, Hannam University, Daejeon, 306-791, South Korea

    Bong-Soo Kang

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  1. Bong-Soo Kang
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Correspondence to Bong-Soo Kang.

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Kang, BS. Compliance characteristic and force control of antagonistic actuation by pneumatic artificial muscles. Meccanica 49, 565–574 (2014). https://doi.org/10.1007/s11012-013-9811-y

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  • DOI: https://doi.org/10.1007/s11012-013-9811-y

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