Model Estimation and Precise Position Control of an Antagonistic Actuation with Pneumatic Artificial Muscles

공압형 인공근육을 이용한 상극 구동의 모델 추정 및 정밀 위치제어

  • 강봉수 (한남대학교 기계공학과)
  • Received : 2010.11.23
  • Accepted : 2011.03.03
  • Published : 2011.05.01


This paper presents a frequency-response test performed on an antagonistic actuation system consisting of two Mckibben pneumatic artificial muscles and a pneumatic circuit with pressure valves. Varying switching frequency to pressure valves from 0.1 Hz to 5 Hz, parameters of a linear model were estimated optimally to predict dynamic characteristics of the antagonistic actuation. A model-base control scheme with estimated parameters was built for the precise trajectory tracking of the antagonistic structure and realized on a reconfigurable embedded control system, CompactRIO. Experimental results showed that the proposed model-based control scheme gave good performance in trajectory tracking comparing with a PD control scheme when square wave and sinusoidal wave were given as references to follow.


Pneumatic Artificial Muscle;Antagonistic Actuation;Model-Base Control;Frequency-Response Test


Supported by : 한남대학교


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