Modeling and Force Control of Thin Soft McKibben Actuator
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- Faudzi Ahmad Athif Mohd
- Center for Artificial Intelligence and Robotics (CAIRO), Universiti Teknologi Malaysia Department of Mechanical and Aerospace Engineering, Tokyo Institute of Technology
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- Lazim Noor Hanis Izzuddin Mat
- Universiti Sains Islam Malaysia
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- Suzumori Koichi
- Department of Mechanical and Aerospace Engineering, Tokyo Institute of Technology
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Abstract
<p>This paper presents the modeling of a thin soft McKibben actuator using the system identification (SI) method and its force control. Procedures from the system identification method are used to create a mathematical model (transfer function) from the test data. The autoregressive with exogenous input (ARX) model was chosen as the model structure of the system. Next, a PSO-PID controller was proposed for the force control of the actuator. The simulation data were verified against the test data for the force control using PSO-PID and conventional PID. Results showed that the developed model represents the actual system by giving the same characteristics in the force control analysis in step, multi-step, and sinusoidal input.</p>
Journal
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- International Journal of Automation Technology
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International Journal of Automation Technology 10 (4), 487-493, 2016-07-05
Fuji Technology Press Ltd.