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RISControl of Pneumatic Artificial Muscle Actuated Two Degrees-of-Freedom Robot Using PD-Based Pulse Width Modulation Strategy With Feed-Forward Outer Control Loop
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This work presents a novel approach for the design and control of a two degrees-of-freedom (DOF) robotic manipulator driven by one pneumatic artificial muscle (PAM) and one passive spring for each of its DOFs. The required ...
Dynamic Manipulability for a Two-Link Manipulator Driven By Pneumatic Artificial Muscles and Passive Springs
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: In the case of manipulators actuated by unidirectional pneumatic artificial muscles (PAMs) and passive restoring springs, the system parameters and spring stiffness affect the reachable workspace and the dynamic manipulability. ...