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Active control of a robotic arm with pneumatic artificial muscle actuator

Jahanabadi, Hossein and Mailah, Musa and Md. Zain, Mohd. Zarhamdy (2009) Active control of a robotic arm with pneumatic artificial muscle actuator. In: South East Asian Technical Universities Consortium(SEATUC) - 3rd SEATUC Symposium Proceeding, 25th - 26th February 2009, Johor Bahru, Malaysia.

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Abstract

The paper is on the control of a robotic arm actuated by a pneumatic artificial muscle (PAM) system. A conventional proportional-integral-derivative (PID) controller with active force control (AFC) is employed to control the robot arm assigned to operate a prescribed task. Simulation results show the effectiveness of the proposed control strategy compared to the PID control only scheme. The results of the simulation study demonstrate the intense robustness and effectiveness of the proposed control scheme in countering the loading and operating conditions compared to the PID control scheme.

Item Type:Conference or Workshop Item (Paper)
Additional Information:Hybrid Twinning Program 2008
Uncontrolled Keywords:robotic arm, pneumatic artificial muscle actuator, active force control (AFC)
Subjects:T Technology > TJ Mechanical engineering and machinery
Divisions:Mechanical Engineering
ID Code:12647
Deposited By: Ms Zalinda Shuratman
Deposited On:15 Jun 2011 05:15
Last Modified:15 Jun 2011 05:15

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