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所属单位：机电学院

发表刊物：Int J Rob Autom

摘要：The pneumatic muscle actuator (PMA) is a new-style actuator, similar to biological muscle, which is widely applied in bionics. This paper deals with implementation of fuzzy sliding mode controller (FSMC) on bionic shoulder joint robot, which is a novel decoupled parallel robot. For the purpose of controlling robot, the kinematic and dynamic analyses of the 3-DOF shoulder joint driven by PMAs are carried out. Based on the advantages of sliding mode control (SMC) algorithm and fuzzy theory, we design FSMC to control this shoulder joint robot. Compared with sliding model controller, FSMC makes accurate compensation for the modeling errors and external disturbances. The experiments show that the designed FSMC can effectively improve the tracking accuracy of the system and reduce the chattering. © 2019 E-flow Acta Press/IASTED. All rights reserved.

ISSN号：0826-8185

是否译文：否

发表时间：2019-01-01

合写作者：Wu, Yang,Xu, Jiaqi,王扬威,Ge, Zhishang,陆永华

通讯作者：刘凯