Design and hybrid control of the pneumatic force-feedback systems for Arm-Exoskeleton by using on/off valve

被引：71

作者：

Chen Ying ^{[1
]}

Zhang Jia-fan ^{[1
]}

Yang Can-jun ^{[1
]}

Niu Bin ^{[1
]}

机构：

[1] Zhejiang Univ, State Key Lab Fluid Power Transmiss & Control, Hangzhou 310027, Peoples R China

来源：

MECHATRONICS | 2007年 / 17卷 / 06期

基金：

中国国家自然科学基金;

关键词：

pneumatic; force-feedback system; mathematical model; high-speed on-off valve; hybrid fuzzy control; exoskeleton-arm;

D O I：

10.1016/j.mechatronics.2007.04.001

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This article models a pneumatic force-feedback system consisting of the double-acting cylinder and a set of high-speed on-off valves, and its fuzzy controller in order to provide an insight into pneumatic system design and force-feedback control requirements of the Arm-Exoskeleton, which is applied in robot-teleoperation and robotics. In modeling, effects of nonlinear flow through the valves, air compressibility in cylinder chambers, and time delay and attenuation of the pressure input in the connecting tubes are considered. Based on this mathematical model, the hybrid fuzzy control method for the precise force-feedback control is proposed and the fuzzy controllers are realized with the Mega8 MCUs as the units of the distributed control system in the Arm-Exoskeleton. At last a series of experiments validated the models and control method. (C) 2007 Elsevier Ltd. All rights reserved.

引用

页码：325 / 335

页数：11

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