OTHER
Nonlinear Model-Based Control of a Parallel Robot Driven by Pneumatic Muscle Actuators
Harald Aschemann, Dominik Schindele
- Year
- 2008
- Citations
- 7
- Access
- Open access
Abstract
New Approaches in Automation and Robotics 26 well as model uncertainties, a nonlinear reduced order disturbance observer is used in a disturbance compensation scheme. Simulation results of the closed-loop system show excellent tracking performance and high steady-state accuracy.
Keywords
Pneumatic artificial musclesPneumatic actuatorActuatorControl theory (sociology)Revolute jointRobotKinematicsArtificial muscleNonlinear systemStiffness
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