Study on Material Recognition of Artificial Finger for Pneumatic Robot Arm
نویسندگان
چکیده
منابع مشابه
Experimental Study of Nonsingular Terminal Sliding Mode Controller for Robot Arm Actuated by Pneumatic Artificial Muscles
In this paper, experimental study of robust control for robot manipulator actuated by pneumatic artificial muscles was realized. The experimented controller belonged to the class of variable structure systems which is called nonsingular terminal sliding mode (NTSM). The control approach is based on the time delay estimation method. First, the nonsingular terminal sliding mode control approach w...
متن کاملOptimization of fuzzy controller for an SMA-actuated artificial finger robot
The purpose of this paper is to design and optimize an intelligent fuzzy-logic controller for a three-degree of freedom (3DOF) artificial finger with shape-memory alloy (SMA) wire actuators. The robotic finger is constructed using three SMA wires as tendons to bend each phalanx of the finger around its revolute joint and three torsion springs which return the phalanxes to their original positio...
متن کاملA Seven-degrees-of-freedom Robot-arm Driven by Pneumatic Artificial Muscles for Humanoid Robots
Braided pneumatic artificial muscles, and in particular the better known type with a double helical braid usually called the McKibben muscle, seem to be at present the best means for motorizing robotarms with artificial muscles. Their ability to develop high maximum force associated with lightness and a compact cylindrical shape, as well as their analogical behavior with natural skeletal muscle...
متن کاملHybrid control of a pneumatic artificial muscle (PAM) robot arm using an inverse NARX fuzzy model
We investigated the possibility of applying a hybrid feed-forward inverse nonlinear auto-regressive with exogenous input (NARX) fuzzy model-PID controller to a nonlinear pneumatic artificial muscle (PAM) robot arm to improve its joint angle position output performance. The proposed hybrid inverse NARX fuzzy-PID controller is implemented to control a PAM robot arm that is subjected to nonlinear ...
متن کاملDevelopment of a Robot Arm System Using High-damping Pneumatic Artificial Rubber Muscle
Introduction Pneumatic artificial rubber muscle (PARM) is a pneumatically driven actuator that provides mechanical effects similar in principle to those of muscle contraction. PARM is a novel actuator that has a high weight-power ratio and maximum contraction over the nominal length is 20%. As shown in Figure 1 , PARM is composed of a rubber tube impregnated with fibers. Teleoperation of pneuma...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Proceedings of the JFPS International Symposium on Fluid Power
سال: 2002
ISSN: 2185-6303
DOI: 10.5739/isfp.2002.299