Position Control for the Spherical Joint Driven by PMAs
- 10.2991/mems.2012.35How to use a DOI?
- PMA;spherical joint; position control;ADRC
A spherical joint system driven by pneumatic artificial muscle is constructed. As pneumatic artificial muscle has strong nonlinear characteristics and traditional control methods are hard to overcome the contradictions among control precision, adjusting speed and stability, the 2 order auto-disturbancerejection controller is introduced. The position control of the spherical joint can be realized by auto-disturbance-rejection controller or PID controller. The experimental results show that auto-disturbance-rejection controller can achieve better control effect than PID controller with steady precision less than 0.4°.
- © 2012, the Authors. Published by Atlantis Press.
- Open Access
- This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).
Cite this article
TY - CONF AU - Huang Qing-shan AU - Chen Jin-bing PY - 2012/12 DA - 2012/12 TI - Position Control for the Spherical Joint Driven by PMAs BT - Proceedings of the 1st International Conference on Mechanical Engineering and Material Science (MEMS 2012) PB - Atlantis Press SP - 128 EP - 130 SN - 1951-6851 UR - https://doi.org/10.2991/mems.2012.35 DO - 10.2991/mems.2012.35 ID - Qing-shan2012/12 ER -