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Improved RBF network torque control in flexible manipulator actuated by PMAs

Published online by Cambridge University Press:  28 September 2018

Kai Liu,
Yang Wu,
Tianming Zhu,
Yining Chen,
Yonghua Lu and
Dongbiao Zhao
Kai Liu*
Affiliation:
Nanjing University of Aeronautics and Astronautics, No. 29, Yu Dao Street Qin Huai District Nanjing City, Nanjing 210016, China. E-mails: Wystudynuaa@163.com, zhutmingnuaa@163.com, chenyn0729@163.com, nuaa_lyh@nuaa.edu.cn, zdbme@nuaa.edu.cn
Yang Wu
Affiliation:
Nanjing University of Aeronautics and Astronautics, No. 29, Yu Dao Street Qin Huai District Nanjing City, Nanjing 210016, China. E-mails: Wystudynuaa@163.com, zhutmingnuaa@163.com, chenyn0729@163.com, nuaa_lyh@nuaa.edu.cn, zdbme@nuaa.edu.cn
Tianming Zhu
Affiliation:
Nanjing University of Aeronautics and Astronautics, No. 29, Yu Dao Street Qin Huai District Nanjing City, Nanjing 210016, China. E-mails: Wystudynuaa@163.com, zhutmingnuaa@163.com, chenyn0729@163.com, nuaa_lyh@nuaa.edu.cn, zdbme@nuaa.edu.cn
Yining Chen
Affiliation:
Nanjing University of Aeronautics and Astronautics, No. 29, Yu Dao Street Qin Huai District Nanjing City, Nanjing 210016, China. E-mails: Wystudynuaa@163.com, zhutmingnuaa@163.com, chenyn0729@163.com, nuaa_lyh@nuaa.edu.cn, zdbme@nuaa.edu.cn
Yonghua Lu
Affiliation:
Nanjing University of Aeronautics and Astronautics, No. 29, Yu Dao Street Qin Huai District Nanjing City, Nanjing 210016, China. E-mails: Wystudynuaa@163.com, zhutmingnuaa@163.com, chenyn0729@163.com, nuaa_lyh@nuaa.edu.cn, zdbme@nuaa.edu.cn
Dongbiao Zhao
Affiliation:
Nanjing University of Aeronautics and Astronautics, No. 29, Yu Dao Street Qin Huai District Nanjing City, Nanjing 210016, China. E-mails: Wystudynuaa@163.com, zhutmingnuaa@163.com, chenyn0729@163.com, nuaa_lyh@nuaa.edu.cn, zdbme@nuaa.edu.cn
*
*Corresponding author. E-mail: liukai@nuaa.edu.cn
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Summary

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A Pneumatic Muscle Actuator (PMA) is a new pneumatic component sharing similar characteristics with biological muscles, and the flexible manipulator actuated by PMAs can better reflect the flexibility of the mechanism. First and foremost, based on the study of the characteristics of human shoulder joints, the configuration design of the flexible manipulator is analyzed, and its kinematics and dynamics models are established. Furthermore, with regard to the nonlinearity, time-invariance and uncertainty of the control system, three aspects of improvement are proposed, which are based on the Radial Basis Function (RBF) network torque control algorithm. The Genetic Algorithm is used to optimize the initial values of RBF network parameters; RBF network parameters are adjusted dynamically by using the additional momentum method; the Levenberg--Marquardt (LM) algorithm, instead of the gradient descent method, is adopted to adjust Proportion Integration Differentiation (PID) parameters online in real time. At last, to test the effects that the improved algorithm exerts on the flexible manipulator control system, some physical platform experiments are carried out. It turns out that the control accuracy and robustness of the improved algorithm are well improved, and the mechanism can be controlled better to track the circular arc trajectory. It lays fundamental importance to the practical application for the working environment.

Keywords

Pneumatic muscle actuatorFlexible manipulatorImproved RBF networkTorque control

Information

Type
Articles
Information
Robotica , Volume 37 , Issue 2 , February 2019, pp. 264 - 280
Copyright
Copyright © Cambridge University Press 2018 

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