Modelling and identification of a pneumatically actuated balancer for collaborative load handling.
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| Title: | Modelling and identification of a pneumatically actuated balancer for collaborative load handling. |
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| Authors: | Ibrahim, Kaneewar1 (AUTHOR) kaneewar.ibrahim@uni-rostock.de, Prabel, Robert1 (AUTHOR), Aschemann, Harald1 (AUTHOR) |
| Source: | Mathematical & Computer Modelling of Dynamical Systems. Dec2025, Vol. 31 Issue 1, p1-25. 25p. |
| Subjects: | Pneumatic actuators, Artificial muscles, System analysis, Fluid flow, Bouc-Wen model, Nonlinear control theory, Industrial robots |
| Abstract: | This paper deals with a comprehensive modelling and identification approach for a pneumatically actuated serial manipulator dedicated for the collaborative handling of loads attached to the end-effector, employing pneumatic artificial muscles (PAMs) as driving elements. The overall system is decomposed into two interconnected subsystems. The pneumatic subsystem covers the characteristic behaviour of the PAMs, and the air-mass-flow characteristic of the associated valves. Two different polynomial formulations replicate both the force and volumetric changes of the muscles with high fidelity. To address the hysteresis of the PAMs, a generalized Bouc-Wen model is incorporated. For a control-oriented design, the valves characteristic air-mass-flow map and its inverse are obtained using the C-b method for the purpose of compensating its nonlinear behaviour. The mechanical subsystem captures the descriptions for the manipulator geometric configuration. The complete model has been validated at a balancer test rig and provides a reliable foundation for a subsequent nonlinear control design. [ABSTRACT FROM AUTHOR] |
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| Database: | Engineering Source |
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| Abstract: | This paper deals with a comprehensive modelling and identification approach for a pneumatically actuated serial manipulator dedicated for the collaborative handling of loads attached to the end-effector, employing pneumatic artificial muscles (PAMs) as driving elements. The overall system is decomposed into two interconnected subsystems. The pneumatic subsystem covers the characteristic behaviour of the PAMs, and the air-mass-flow characteristic of the associated valves. Two different polynomial formulations replicate both the force and volumetric changes of the muscles with high fidelity. To address the hysteresis of the PAMs, a generalized Bouc-Wen model is incorporated. For a control-oriented design, the valves characteristic air-mass-flow map and its inverse are obtained using the C-b method for the purpose of compensating its nonlinear behaviour. The mechanical subsystem captures the descriptions for the manipulator geometric configuration. The complete model has been validated at a balancer test rig and provides a reliable foundation for a subsequent nonlinear control design. [ABSTRACT FROM AUTHOR] |
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| ISSN: | 13873954 |
| DOI: | 10.1080/13873954.2025.2597307 |
