Control of a biologically inspired manipulator actuated by pneumatic artificial muscles

Abstract

This paper investigates a control algorithm for 2 DOF robot manipulator actuated by pneumatic artificial actuators. The robot configuration is developed from the muscle model of human arm, joints are driven by two pairs of mono-articular and one pair of bi-articular muscles, and then three pairs are in antagonistic arrangement. Dynamics of the system are formulated based on Euler-Lagrange approach in combination with natural force-length-velocity relation of the contracting muscle. Based on Li-Slotine algorithm for rigid-link manipulators as moment response of actuators is ideal, a novel algorithm is developed to regulate joint torques from muscle contractile forces to ensure a desired motion ij joint space. Stability analysis of the proposed control algorithm is based on Lyapunov principle. Finally, the effectiveness of the proposed control inputs has been reconfirmed by simulation results in MatLab/Simulink .