Ảnh hưởng của tải trọng đến việc điều khiển vị trí cơ nhân tạo khí nén

Abstract

Pneumatic artificial muscles (PAMs) are a type of biomimicry actuators, which are being widely used in the application of bio-simulation robots and medical auxiliary devices. However, PAM systems often have high non-linearity, uncertainty, and characteristics that change over time, especially the effect of load volume. To assess the effect of load on pneumatic artificial mechanical position control, in this paper, the PAM position is controlled by a proportional-integral-derivative controller (PID) in various load cases. The results showed that the root mean squared error (RMSE) tended to gradually increase from 2.2 mm to 4.8 mm when the placement was different at 10 mm and 30 mm with the same load volume of 20 kg. In addition, the experimental results at the 10 mm placement and the change in load mass of 10 kg and 25 kg respectively show that the system will be more stable as the load increases.