Dynamic Modeling and Analysis for Dual Pneumatic Artificial Muscle Actuated Manipulators

Abstract

Dual pneumatic artificial muscle actuated manipulators (dual-PAMs) are increasingly popular in the field of rehabilitation and exoskeleton robots. Dual-PAMs exhibit many complicated characteristics, such as complex hysteresis, unidirectional input constraints, compliance, time-varying properties, high nonlinearities, etc., which bring difficulties and challenges to the control issue of dual-PAMs. In this paper, the dual-PAM system's dynamic model is established by using the Lagrange's method. Then, a linear quadratic regulator (LQR) control method is presented to achieve accurate positioning and vibration suppression. Finally, numerical simulation results are provided to verify the effectiveness of the proposed control method for dual-PAM systems.