Development and control of a hybrid controlled vertical climbing robot based on pneumatic muscle actuators
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
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.
Information technology - Automatic control
Informationsteknik - Reglerteknik
Research subject Control Engineering
IdentifiersURN: urn:nbn:se:ltu:diva-15693Local ID: f3db3c41-7fea-4d46-aa9f-34bb1f6d7334OAI: oai:DiVA.org:ltu-15693DiVA: diva2:988668
Godkänd; 2011; 20110829 (geonik)2016-09-292016-09-29Bibliographically approved