S&M Young Researcher Paper Award 2020
Recipients: Ding Jiao, Zao Ni, Jiachou Wang, and Xinxin Li [Winner's comments]
Paper: High Fill Factor Array of Piezoelectric Micromachined
Ultrasonic Transducers with Large Quality Factor

S&M Young Researcher Paper Award 2021
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Vol. 32, No. 8(2), S&M2292

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Sensors and Materials, Volume 33, Number 9(1) (2021)
Copyright(C) MYU K.K.
pp. 3081-3100
S&M2675 Technical Paper of Special Issue
https://doi.org/10.18494/SAM.2021.3250
Published: September 10, 2021

Design and Control of 6-DOF Robotic Manipulator Driven by Pneumatic Muscles and Motor [PDF]

Lian-Wang Lee, Liang-Yu Lu, I-Hsum Li, Chia-Wei Lee, and Te-Jen Su

(Received December 30, 2020; Accepted April 7, 2021)

Keywords: serial manipulator arm, smooth control, pneumatic-muscle actuator, linear extended state observer, novel proxy-based sliding mode control

A pneumatic-muscle actuator (PMA) is made of a unique material with fibers wrapped inside and metal fittings attached at each end. Because of reversible physical deformation, a PMA can produce linear motion during contraction and muscle expansion. We use a PMA and motors’ hybrid drivers to implement a low-cost and safe robot manipulator with six degrees of freedom (6-DOF). Safety is achieved by applying a novel proxy-based sliding mode controller (NPSMC) and a linear extended state observer (LESO) on each joint of the 6-DOF robot manipulator. The NPSMC can compensate the six joints of the 6-DOF robot manipulator reaching Lyapunov stability, and we prove that their pathing errors converge to a neighborhood of zero. An experiment on all joints is conducted to verify the trajectory pathing precision and system safety for the 6-DOF robot manipulator. The experimental results show that under NPSMC compensation and the LESO estimate, the 6-DOF robot manipulator using the hybrid drivers satisfies both the pathing performance demands and safety control.

Corresponding author: Te-Jen Su


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Cite this article
Lian-Wang Lee, Liang-Yu Lu, I-Hsum Li, Chia-Wei Lee, and Te-Jen Su, Design and Control of 6-DOF Robotic Manipulator Driven by Pneumatic Muscles and Motor, Sens. Mater., Vol. 33, No. 9, 2021, p. 3081-3100.



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