Change search
ReferencesLink to record
Permanent link

Direct link
Development and control of a hybrid controlled vertical climbing robot based on pneumatic muscle actuators
Department of Electrical and Computer Science, University of Patras.
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
Electrical and Computer Engineering Department, University of Patras.
2011 (English)In: Journal of Control Engineering and Technology (JCET), ISSN 2223-2036, Vol. 1, no 2, 53-58 p.Article in journal (Refereed) Published
Abstract [en]

This article presents the development and control of a novel hybrid controlled vertical climbing robot based on Pneumatic Muscle Actuators (PMAs). PMAs are highly non–linear pneumatic actuators where their elongation is proportional to the internal pressure. The vertical sliding of the robot is based on four PMAs and through the combined and sequential contraction–extension of the pneumatic muscles and cylinders, upward and downward movements are executed. For controlling the movement of the robot and to cope with the high non–linearities of the system, a simplified and highly functional hybrid control scheme, based on PID and On/Off control, has been adopted. The efficacy of the proposed scheme is presented through multiple experimental results where it is shown that the utilized controller is able to provide fast (on/off) and accurate (PID) translations to the robot.

Place, publisher, year, edition, pages
2011. Vol. 1, no 2, 53-58 p.
Keyword [en]
Information technology - Automatic control
Keyword [sv]
Informationsteknik - Reglerteknik
Research subject
Control Engineering
URN: urn:nbn:se:ltu:diva-15693Local ID: f3db3c41-7fea-4d46-aa9f-34bb1f6d7334OAI: diva2:988668
Godkänd; 2011; 20110829 (geonik)Available from: 2016-09-29 Created: 2016-09-29Bibliographically approved

Open Access in DiVA

fulltext(583 kB)1 downloads
File information
File name FULLTEXT01.pdfFile size 583 kBChecksum SHA-512
Type fulltextMimetype application/pdf

Other links

Search in DiVA

By author/editor
Andrikopoulos, GeorgiosNikolakopoulos, George
By organisation
Signals and Systems

Search outside of DiVA

GoogleGoogle Scholar
Total: 1 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

Total: 3 hits
ReferencesLink to record
Permanent link

Direct link