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Detailed Dynamic Model of Antagonistic PAM System and its Experimental Validation: Sensor-less Angle and Torque Control with UKF
https://uec.repo.nii.ac.jp/records/10050
https://uec.repo.nii.ac.jp/records/100501f9c0d2c-d06e-41db-b91f-cd3a14223a3d
名前 / ファイル | ライセンス | アクション |
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Detailed_Dynamic_Model_K (13.2 MB)
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CC BY NC ND 4.0
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Item type | 学術雑誌論文 / Journal Article(1) | |||||
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公開日 | 2021-09-27 | |||||
タイトル | ||||||
言語 | en | |||||
タイトル | Detailed Dynamic Model of Antagonistic PAM System and its Experimental Validation: Sensor-less Angle and Torque Control with UKF | |||||
言語 | ||||||
言語 | eng | |||||
キーワード | ||||||
言語 | en | |||||
主題 | Nonlinear Model | |||||
キーワード | ||||||
言語 | en | |||||
主題 | Pneumatic Artificial Muscle | |||||
キーワード | ||||||
言語 | en | |||||
主題 | State Estimation | |||||
キーワード | ||||||
言語 | en | |||||
主題 | Unscented Kalman Filter | |||||
キーワード | ||||||
言語 | en | |||||
主題 | Sensor-less Control | |||||
キーワード | ||||||
言語 | en | |||||
主題 | Experimental Validation | |||||
資源タイプ | ||||||
資源タイプ識別子 | http://purl.org/coar/resource_type/c_6501 | |||||
資源タイプ | journal article | |||||
著者 |
Shin, Takaya
× Shin, Takaya× Ibayashi, Takumi× Kogiso, Kiminao |
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抄録 | ||||||
内容記述タイプ | Abstract | |||||
内容記述 | This paper proposes a detailed nonlinear mathematical model of an antagonistic pneumatic artificial muscle (PAM) actuator system for estimating the joint angle and torque using an unscented Kalman filter (UKF). The proposed model is described in a hybrid state-space representation. It includes the contraction force of the PAM, joint dynamics, fluid dynamics of compressed air, mass flows of a valve, and friction models. A part of the friction models is modified to obtain a novel form of Coulomb friction depending on the inner pressure of the PAM. For model validation, offline and online UKF estimations and sensor-less tracking control of the joint angle and torque are conducted to evaluate the estimation accuracy and tracking control performance. The estimation error is less than 7.91 %, and the steady-state tracking control performance is more than 94.75 %. These results confirm that the proposed model is detailed and could be used as the state estimator of an antagonistic PAM system. | |||||
書誌情報 |
en : IEEE/ASME Transactions on Mechatronics 巻 27, 号 3, p. 1715-1726, 発行日 2021-06-03 |
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出版者 | ||||||
出版者 | IEEE | |||||
ISSN | ||||||
収録物識別子タイプ | ISSN | |||||
収録物識別子 | 10834435 | |||||
DOI | ||||||
関連タイプ | isIdenticalTo | |||||
識別子タイプ | DOI | |||||
関連識別子 | 10.1109/TMECH.2021.3086218 | |||||
権利 | ||||||
権利情報 | (c) 2021 THE AUTHORS. | |||||
関連サイト | ||||||
識別子タイプ | DOI | |||||
関連識別子 | https://doi.org/10.1109/TMECH.2021.3086218 | |||||
著者版フラグ | ||||||
出版タイプ | VoR | |||||
出版タイプResource | http://purl.org/coar/version/c_970fb48d4fbd8a85 |