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Research on the intelligent control algorithm for a robot joint actuated by McKibben muscles |
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| Authors: | Huailin Zhao Masanori Sugisaka Leilei Cui Guanglin Shi |
| Affiliation: | 1. School of Mechanical and Automation Engineering, Shanghai Institute of Technology, No.120, Caobao Road, Shanghai, 200235, China 2. Department of Mechnical and Electrical Engineering, Nippon Bunri University, 1727 Oaza Itiki, Oita, 870-0397, Japan 3. School of Mechanical and Automation Engineering, Shanghai Institute of Technology, Shanghai, China 4. School of Mechanical Engineering, Shanghai Jaio Tong University, Shanghai, China |
| Abstract: | A compound control algorithm is supposed to a robot joint actuated by McKibben muscles, which combines both CMAC control and PID control. The CMAC feedforward compensator realizes the joint system’s dynamic model. The PID controller realizes the feedback control in order to guarantee the system’s stability. The compound controller’s output takes control of the system’s actions. By the CMAC learning process, the PID output tends to zero, and the final controlled action is directed by the CMAC controller. Digital simulation results prove that this compound control algorithm has the very high tracking capacity, interference immunity, and quick system response. |
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