Model-free based control of a gripper actuated by pneumatic muscles?

被引：5

作者：

Hamon, Pol ^{[1
,2
]}

Michel, Loic ^{[1
]}

Plestan, Franck ^{[1
]}

Chablat, Damien ^{[1
,3
]}

机构：

[1] Nantes Univ, Ecole Cent Nantes, CNRS, LS2N UMR 6004, F-44000 Nantes, France

[2] Armor Meca, ZI La Grignardais, F-22490 Pleslin Trigavou, France

[3] Tech Univ Cluj Napoca, Str Memorandumului 28, Cluj Napoca 400114, Romania

来源：

MECHATRONICS | 2023年 / 95卷

关键词：

Grasping system; Pneumatic muscle; Model-free control; ARTIFICIAL MUSCLE; PID CONTROL;

D O I：

10.1016/j.mechatronics.2023.103053

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this article, a model-free based control strategy is applied to a gripper activated by Mckibben's pneumatic muscles. The gripper is composed of three fingers and is based on an original mechanical design to grip a large range of objects (by a weight, size, form, ... point-of-view). A model-free based control strategy is proposed to manage the force control phases. An experimental setup is introduced to experimentally test and validate the proposed control strategy using a very simple setup composed of a single force sensor, an embedded electronic board, and a single pressure proportional solenoid valve.

引用

页数：9

共 50 条

[31] Model-free control for unknown delayed systems
Doublet, M.
Join, C.
Hamelin, F.
2016 3RD CONFERENCE ON CONTROL AND FAULT-TOLERANT SYSTEMS (SYSTOL), 2016, : 630 - 635
[32] On the control of robot manipulator: A model-free approach
Abouaissa, Hassane
Chouraqui, Samira
JOURNAL OF COMPUTATIONAL SCIENCE, 2019, 31 : 6 - 16
[33] Hysteresis Model Based on Modified PI Model and Compensation Control for Elbow Joint Driven by Pneumatic Muscles
Wang B.
Lu H.
Jin M.
Xie S.
Nongye Jixie Xuebao/Transactions of the Chinese Society for Agricultural Machinery, 2019, 50 (06): : 412 - 418
[34] Some contributions to estimation for model-free control
Carrillo, Francisco Javier
Rotella, Frederic
IFAC PAPERSONLINE, 2015, 48 (28): : 150 - 155
[35] Model-Free Predictive Control and Its Applications
Nauman, Muhammad
Shireen, Wajiha
Hussain, Amir
ENERGIES, 2022, 15 (14)
[36] Model-free control of affine chaotic systems
Qi, GY
Chen, ZQ
Yuan, ZZ
PHYSICS LETTERS A, 2005, 344 (2-4) : 189 - 202
[37] Model-free control of a magnetically supported plate
Scherer, P. M.
Othmane, A.
Rudolph, J.
CONTROL ENGINEERING PRACTICE, 2024, 148
[38] MODEL-FREE CONTROL OF A SEEDED BATCH CRYSTALLIZER
Afsi, Nawel
Bakir, Toufik
Othman, Sami
Sakly, Anis
CANADIAN JOURNAL OF CHEMICAL ENGINEERING, 2018, 96 (06) : 1306 - 1316
[39] Model-free intelligent control of a 6-DOF Stewart-Gough based parallel manipulator
Mann, GKI
Surgenor, BW
PROCEEDINGS OF THE 2002 IEEE INTERNATIONAL CONFERENCE ON CONTROL APPLICATIONS, VOLS 1 & 2, 2002, : 495 - 500
[40] Energy Saving Method of Refrigeration System Based on Model-free Control Algorithm
Han, Xue-Shuo
Dong, Na
Chang, Jian-Fang
2017 6TH DATA DRIVEN CONTROL AND LEARNING SYSTEMS (DDCLS), 2017, : 566 - 571

← 1 2 3 4 5 →