Abstract
The artificial muscles are pneumatic actuators that have similar characteristics as the human ones. Major applications for the artificial muscles are haptic devices, as well as robotic hands. One of the important part in developing such mechanisms is the actuator control. Many control methods were applied to these muscles, but there are few comparisons between the efficiency of each method. This paper will present the implementation of PID control theory as well as On/Off with hysteresis methods to position an end effector using artificial muscles. The control method will be implemented in LabView environment, using a Compact Rio acquisition board. We will show that using PID control the positioning will be more accurate and done faster than using the On/Off controller.
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Draghici, M.P., Rusu, C., Plesa, A., Balan, R., Besoiu, S. (2014). Control Method Comparison for Pneumatic Artificial Muscle Actuators. In: Visa, I. (eds) The 11th IFToMM International Symposium on Science of Mechanisms and Machines. Mechanisms and Machine Science, vol 18. Springer, Cham. https://doi.org/10.1007/978-3-319-01845-4_35
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DOI: https://doi.org/10.1007/978-3-319-01845-4_35
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