Control of Manipulator Using Pneumatic Muscles for Enhanced Safety

被引：54

作者：

Choi, Tae-Yong ^{[1
]}

Lee, Ju-Jang ^{[1
]}

机构：

[1] Korea Adv Inst Sci & Technol, Dept Elect Engn, Taejon 305701, South Korea

来源：

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS | 2010年 / 57卷 / 08期

关键词：

Human-robot interaction; joint compliance; pneumatic muscle (PM); safety; SLIDING-MODE CONTROL; DESIGN; SYSTEM;

D O I：

10.1109/TIE.2009.2036632

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Safety of humans who work with robots is an important issue. Many studies have addressed related methods, but fundamental limits to meet safety requirements have been encountered owing to the absence of compliance in robot actuators. Pneumatic muscle ( PM) is considered to be a basic actuator and offers the advantage of intrinsic elasticity to achieve joint compliance. In this paper, joint compliance actuated by PM is actively utilized to enhance human safety during collisions. To this end, the authors present a novel approach to control compliance and associated positions independently with no cross-performance effects using PMs. The proposed method is verified by experiments using a physical robot. In addition, methods to decrease damage from collisions between robots and humans due to operational faults are evaluated through experiments. The effectiveness of the proposed method is verified by measuring the impact impulse in collisions.

引用

页码：2815 / 2825

页数：11

共 28 条

[11] A two-input sliding-mode controller for a planar arm actuated by four pneumatic muscle groups [J].

Lilly, JH ;

Quesada, PM .

IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING, 2004, 12 (03) :349-359

[12]

MIZUUCHI I, 2004, P IEEE INT C INT ROB, P828

[13] Collision avoidance method of humanoid robot with arm force [J].

Ohashi, Eijiro ;

Aiko, Takahiro ;

Tsuji, Toshiaki ;

Nishi, Hiroaki ;

Ohnishi, Kouhei .

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 2007, 54 (03) :1632-1641

[14] Position/vibration control of two-degree-of-freedom arms having one flexible link with artificial pneumatic muscle actuators [J].

Park, NC ;

Yang, HS ;

Park, HW ;

Park, YP .

ROBOTICS AND AUTONOMOUS SYSTEMS, 2002, 40 (04) :239-253

[15]

Pratt GA, 1995, IEEE RSJ INT C INT R, V1, DOI DOI 10.1109/IROS.1995.525827

[16] Modeling the dynamic characteristics of pneumatic muscle [J].

Reynolds, DB ;

Repperger, DW ;

Phillips, CA ;

Bandry, G .

ANNALS OF BIOMEDICAL ENGINEERING, 2003, 31 (03) :310-317

[17] Sliding modes in constrained systems control [J].

Sabanovic, Asif ;

Elitas, Meltem ;

Ohnishi, Kouhei .

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 2008, 55 (09) :3332-3339

[18] A shoulder structure of muscle-driven humanoid with shoulder blades [J].

Sodeyama, Y ;

Mizuuchi, I ;

Yoshikai, T ;

Nakanishi, Y ;

Inaba, M .

2005 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4, 2005, :1077-1082

[19] Design and control of RUPERT: A device for robotic upper extremity repetitive therapy [J].

Sugar, Thomas G. ;

He, Jiping ;

Koeneman, Edward J. ;

Koeneman, James B. ;

Herman, Richard ;

Huang, H. ;

Schultz, Robert S. ;

Herring, D. E. ;

Wanberg, J. ;

Balasubramanian, Sivakumar ;

Swenson, Pete ;

Ward, Jeffrey A. .

IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING, 2007, 15 (03) :336-346

[20] Geometrically exact models for soft robotic manipulators [J].

Trivedi, Deepak ;

Lotfi, Amir ;

Rahn, Christopher D. .

IEEE TRANSACTIONS ON ROBOTICS, 2008, 24 (04) :773-780

← 1 2 3 →