Implementation of a PID Controller for a Robotic Leg Actuated by Pneumatic Artificial Muscles

T.-K. Shen ； P.-H. Lin ； P.-C. Lin ； I.-F. Lee ； C.-I. Lin ； W.-P. Shih

《Proceedings of the 14th IFToMM World Congress》 14th-3 (2015/10) Pp. 459-464

https://doi.org/10.6567/IFToMM.14TH.WC.OS13.086

並列摘要

This paper presents the implementation of a proportional-integral-derivative (PID) controller on a bio-inspired robotic leg driven by pneumatic artificial muscles (PAMs). The controllability of PAMs in robotic application was studied. Many PAM-driven robots employed their actuators in an ＂all and none＂ principle; however, these robots only worked in very particular conditions. In order to implement sophisticated control strategy, PAMs have to accomplish a comprehensive variety of commands. A method without using costly components such as strain gauges and proportional valves promotes the feasibility of domestic robotic application. To realize this simple but effective PID controller, a continuous behavior, the solenoid valve was adopted. Pulse-width-modulation algorithm was then employed. Models were set up to give an insight into the controller's design. The experimental set-ups and the performance of the system are presented in detail.

並列關鍵字

bio-inspired ； pneumatic artificial muscle ； PID controller ； domestic robot ； PWM