A Frequency Modeling Method of Rubbertuators for Control Application in an IMA Framework

This paper presents the results of rubbertuator modeling for purposes of control applications. A pair of rubbertuators is constructed as a revolute joint. The rubbertuator arm is highly nonlinear and exhibits hysteresis. The frequency modeling method was implemented using software agents within the Intelligent Machine Architecture (IMA) framework. Several linear models were built, simulated, and employed to design a controller for the rubbertuators. The results show that all models match the experimental data in each frequency range. A fuzzy model-based controller was designed and implemented as an example using the IMA framework.