title: Modeling and control of actuator elements of a robot-manipulator with a pneumatic drive
title: Ð²ÑÐ¿ÑÑÐºÐ½Ð°Ñ ÐºÐ²Ð°Ð»Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¾Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð¼Ð°Ð³Ð¸ÑÑÑÐ°
titleType: Subtitle
title: ÐÐ¾Ð´ÐµÐ»Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ðµ Ð¸ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ðµ Ð¸ÑÐ¿Ð¾Ð»Ð½Ð¸ÑÐµÐ»ÑÐ½ÑÐ¼Ð¸ ÑÐ»ÐµÐ¼ÐµÐ½ÑÐ°Ð¼Ð¸ ÑÐ¾Ð±Ð¾ÑÐ°-Ð¼Ð°Ð½Ð¸Ð¿ÑÐ»ÑÑÐ¾ÑÐ° Ñ Ð¿Ð½ÐµÐ²Ð¼Ð¾Ð¿ÑÐ¸Ð²Ð¾Ð´Ð¾Ð¼
Creators: name: Ð¨ÐµÑÐ·Ð°Ð´, Ð£Ð¼Ð°Ñ
Publisher: name: Ð¡Ð°Ð½ÐºÑ-ÐÐµÑÐµÑÐ±ÑÑÐ³ÑÐºÐ¸Ð¹ Ð¿Ð¾Ð»Ð¸ÑÐµÑÐ½Ð¸ÑÐµÑÐºÐ¸Ð¹ ÑÐ½Ð¸Ð²ÐµÑÑÐ¸ÑÐµÑ ÐÐµÑÑÐ° ÐÐµÐ»Ð¸ÐºÐ¾Ð³Ð¾
Year: 2024
Subjects: ÐÐ¾Ð½ÑÑÐ¾Ð»Ð»ÐµÑÑ
ÐÐ½ÐµÐ²Ð¼Ð°ÑÐ¸ÑÐµÑÐºÐ¸Ðµ Ð¿ÑÐ¸Ð²Ð¾Ð´Ñ
Ð Ð¾Ð±Ð¾ÑÑ
modeling
Ð¼Ð¾Ð´ÐµÐ»Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ðµ

description: The subject of graduate qualification work is that pneumatic actuators have several benefits over electric motors, including as higher strength-to-weight ratio, customizable mechanism compliance, durability, and lower cost. Their qualities are comparable to muscle, making them suitable for bio-inspired robotic devices. However, they are difficult to regulate and frequently avoided. This paper presents preliminary work on modeling and controlling actuator components in a pneumatically driven robot manipulator. Contrary to common assumption, we found it very simple to operate with these pneumatically driven robots and achieved excellent tracking performance. We were also successful in achieving end-effector control over the humanoids extremely redundant arm. This involved creating parametric models, fitting them to experimental data, implementing model-based feedback controllers, and improving their performance.
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