Design and Control for a Redundant Robot Actuated by PAMs and Servos

• Main Authors: You Yuan Chen, 陳宥榞
• Other Authors: 林志哲
• Format: Others
• Language: zh-TW
• Online Access: http://ndltd.ncl.edu.tw/handle/t43yxk

碩士 === 國立臺北科技大學 === 自動化科技研究所 === 105 === The purpose of this study is based on Pneumatic Artificial Muscles (PAMs) to develop a robot for two purposes. The first type is a redundant robot, which has 4-DOFs actuated by PAMs and 3-DOFs actuated by servos. The second type is a wearable exoskeleton robot, which is used for upper limb rehabilitation and is only actuated by PAMs. The advantages of using PAMs are making the robot’s joints have flexibility and improving the safety for rehabilitation. For real-time implementation, we used an embedded controller (myRIO, made by National Instruments) to integrate the robot with sensors. Because the dynamics of PAM is nonlinear and complicated due to the nonlinear friction, a Proportional-Integral-Derivative (PID), Least Mean Square (LMS)-PID and Iterative Learning Control (ILC) have studied for the specified trajectory tracking tasks. Compared from the other two controllers, ILC has the best performance for repetitive trajectory tracking tasks.