Experimental setup for the positioning of humanoid upper arm

Several control ways have been applied to control different humanoid or robot arms, manipulators, prosthetic and therapy devices driven by pneumatic artificial muscles (PAMs). The early control methods were based on classical linear controllers and then some modem control strategies have been develo...

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Bibliographic Details
Main Authors: Sárosi József
Gyeviki János
Format: Article
Published: 2010
Series:Review of faculty of engineering : analecta technica Szegedinensia
Kulcsszavak:Mérnöki tudományok
Online Access:http://acta.bibl.u-szeged.hu/11857
Description
Summary:Several control ways have been applied to control different humanoid or robot arms, manipulators, prosthetic and therapy devices driven by pneumatic artificial muscles (PAMs). The early control methods were based on classical linear controllers and then some modem control strategies have been developed (e. g. adaptive controller, sliding-mode controller, fuzzy controller, neural network controller and others) ([I], [2] and [3]). This paper presents a humanoid upper arm and discusses its positioning using sliding-mode control.
Physical Description:222-226
ISSN:1788-6392