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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.
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]
Copyright of Mathematical & Computer Modelling of Dynamical Systems is the property of Taylor & Francis Ltd and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)
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  Data: Modelling and identification of a pneumatically actuated balancer for collaborative load handling.
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  Data: <searchLink fieldCode="AR" term="%22Ibrahim%2C+Kaneewar%22">Ibrahim, Kaneewar</searchLink><relatesTo>1</relatesTo> (AUTHOR)<i> kaneewar.ibrahim@uni-rostock.de</i><br /><searchLink fieldCode="AR" term="%22Prabel%2C+Robert%22">Prabel, Robert</searchLink><relatesTo>1</relatesTo> (AUTHOR)<br /><searchLink fieldCode="AR" term="%22Aschemann%2C+Harald%22">Aschemann, Harald</searchLink><relatesTo>1</relatesTo> (AUTHOR)
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  Data: <searchLink fieldCode="JN" term="%22Mathematical+%26+Computer+Modelling+of+Dynamical+Systems%22">Mathematical & Computer Modelling of Dynamical Systems</searchLink>. Dec2025, Vol. 31 Issue 1, p1-25. 25p.
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  Data: <searchLink fieldCode="DE" term="%22Pneumatic+actuators%22">Pneumatic actuators</searchLink><br /><searchLink fieldCode="DE" term="%22Artificial+muscles%22">Artificial muscles</searchLink><br /><searchLink fieldCode="DE" term="%22System+analysis%22">System analysis</searchLink><br /><searchLink fieldCode="DE" term="%22Fluid+flow%22">Fluid flow</searchLink><br /><searchLink fieldCode="DE" term="%22Bouc-Wen+model%22">Bouc-Wen model</searchLink><br /><searchLink fieldCode="DE" term="%22Nonlinear+control+theory%22">Nonlinear control theory</searchLink><br /><searchLink fieldCode="DE" term="%22Industrial+robots%22">Industrial robots</searchLink>
– Name: Abstract
  Label: Abstract
  Group: Ab
  Data: 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]
– Name: AbstractSuppliedCopyright
  Label:
  Group: Ab
  Data: <i>Copyright of Mathematical & Computer Modelling of Dynamical Systems is the property of Taylor & Francis Ltd and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.)
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RecordInfo BibRecord:
  BibEntity:
    Identifiers:
      – Type: doi
        Value: 10.1080/13873954.2025.2597307
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      – Code: eng
        Text: English
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        PageCount: 25
        StartPage: 1
    Subjects:
      – SubjectFull: Pneumatic actuators
        Type: general
      – SubjectFull: Artificial muscles
        Type: general
      – SubjectFull: System analysis
        Type: general
      – SubjectFull: Fluid flow
        Type: general
      – SubjectFull: Bouc-Wen model
        Type: general
      – SubjectFull: Nonlinear control theory
        Type: general
      – SubjectFull: Industrial robots
        Type: general
    Titles:
      – TitleFull: Modelling and identification of a pneumatically actuated balancer for collaborative load handling.
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            NameFull: Ibrahim, Kaneewar
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            NameFull: Prabel, Robert
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            NameFull: Aschemann, Harald
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            – D: 01
              M: 12
              Text: Dec2025
              Type: published
              Y: 2025
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              Value: 31
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            – TitleFull: Mathematical & Computer Modelling of Dynamical Systems
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