Control of Flexible Pneumatic Robot Arm Using Master Device with Pneumatic Brake Mechanism

摘要

In this paper, a novel structure for bilateral control in master-slave system composed of flexible pneumatic robot arms is presented. From our previous study, it is needed to apply the brake mechanism on the master arm and it perhaps can be a bilateral control by taking into account the force factor in both master and slave arms. The compact and lightweight brake mechanism can avoid patients from injury by limiting and stopping the movement of master arm when it moves in the dangerous area or angle during the therapy. The control system consists of flexible pneumatic cylinders, potentiometers, quasi-servo valves, accelerometers and a microcomputer. The analytical model of the master-slave control is explained and the control performances using the brake system are investigated. The experimental results show that the attitude control can be achieved by using the proposed master arm with the pneumatic brake mechanism and proposed analytical model. Thus, this master-slave control with the brake mechanism has a potential for application in rehabilitation field.