Motion Control Of Pneumatic Muscle Actuator : Experimental Setup And Modeling

Vasanthan, Sakthi Velu (2013) Motion Control Of Pneumatic Muscle Actuator : Experimental Setup And Modeling. Project Report. UTeM, Melaka, Malaysia. (Submitted)

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Abstract

In recent times, the Pneumatic Muscle Actuator (PMA) has achieved popularity in the field of research, robotics and industrial application due to its advantages such as light weight actuator, dynamic, powerful and resistant to dust and clean. The muscle actuator is capable of mimicking behaviour of human muscle like actuator where it contracts and generates force in non-linear manner when it is activated (pressurized). Due to its nonlinear dynamics, the muscle actuator is difficult to be controlled because changes in the system occur due to the presents of compressed air (pressure). In order to present its dynamic and for effective motion control purpose, an effective experimental setup has to be developed in this project. The prime interest of this project is to develop a pneumatic muscle actuator experimental setup and model its dynamic system. The study in this project has been continued by validating the effectiveness of the proposed model in positioning control via experimental and simulation. The result achieved for the muscle actuator static load study and open loop experiment has been presented in this project with graphical aid. Finally, a good conclusion of the pneumatic muscle actuator experimental setup and dynamic system modeling is explained and recommendation for further research has been proposed.

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