NDLI: Position and compliance control of a manipulator with pneumatic muscles for enhanced safety

Content Provider	IEEE Xplore Digital Library
Author	Tae-Yong Choi Joon-Woo Lee Kyoung-Taik Park Ju-Jang Lee
Copyright Year	2010
Description	Author affiliation: Dept. of Electrical Engineering, Korea Institute of Machinery and Materials(KIMM), 171, Jang-dong, Yuseong-gu, Daejeon, Korea (Kyoung-Taik Park) \|\| Dept. of Electrical Engineering, Korea Advanced Institute of Science and Technology(KAIST), 373-1, Guseong-dong, Yuseong-gu, Daejeon, Korea (Tae-Yong Choi; Joon-Woo Lee; Ju-Jang Lee)
Abstract	The 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 is considered to be a basic actuator and offers the advantage of intrinsic elasticity to achieve joint compliance. In this study, joint compliance actuated by pneumatic muscle 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 pneumatic muscles. The proposed method is verified by simulation and experiments using a physical robot.
Starting Page	3565
Ending Page	3570
File Size	2039310
Page Count	6
File Format	PDF
ISBN	9781424463909
e-ISBN	9781424463923
DOI	10.1109/ISIE.2010.5637973
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-07-04
Publisher Place	Italy
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Joints Safety Manipulators Collision avoidance Torque Muscles
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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Position and Compliance Control of a Pneumatic Muscle Actuated Manipulator for Enhanced Safety

Manipulator operation using joint stiffness adjusting by pneumatic muscles

Two-link pneumatic artificial muscle manipulator based on passive dynamic control

Modeling torque-angle hysteresis in a pneumatic muscle manipulator

Control of Manipulator Using Pneumatic Muscles for Enhanced Safety

Parallel robotic manipulation via Pneumatic Artificial Muscles

Joint configuration strategy for serial-chain safe manipulators

Extensions to reactive self-collision avoidance for torque and position controlled humanoids

Tracking control with hysteresis compensation for manipulator segments driven by pneumatic artificial muscles

Position and compliance control of a manipulator with pneumatic muscles for enhanced safety

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