A new approach for hybrid (PID + MRAC) adaptive controller applied to two-axes McKibben muscle manipulator: a mechanism for human-robot collaboration
ISSN: 0143-991x
Article publication date: 9 July 2021
Issue publication date: 16 November 2021
Abstract
Purpose
This paper aims to present a new approach, called hybrid model reference adaptive controller or H-MRAC, for the hybrid controller (proportional-integral-derivative [PID + MRAC]) that will be used to control the position of a pneumatic manipulator.
Design/methodology/approach
It was developed a McKibben muscle using nautical mesh, latex and high-density polyethene connectors and it was constructed an elbow manipulator with two degrees of freedom, driven by these muscles. Then it was presented the H-MRAC control law based on the phenomenological characteristics of the plant, aiming at fast response and low damping. Lyapunov's theory was used as the project methodology, which ensures asymptotic stability for the control system.
Findings
It was developed a precise control system for a pneumatic manipulator and the results were compared to previous research.
Research limitations/implications
In collaborative robotics, human and machine occupy the same workspace. This research promotes the development of safer and more complacent mechatronic systems in the event of collisions.
Practical implications
As a practical implication, the research allows the substitution of electric motors by McKibben muscles in industrial robots with high accuracy.
Social implications
The pneumatic manipulator will make the human-robot physical interaction safer as it can prevent catastrophic collisions causing victims or equipment breakdown.
Originality/value
When compared to results in the literature, the present research showed a 37.51% and 36.74% lower global error in position tracking than MRAC and Adaptive proportional-integral-derivative (A-PID), respectively, validating its effectiveness.
Keywords
Acknowledgements
The authors would like to acknowledge the support of IFMG/Congonhas Hydropneumatics Laboratory during the execution of the experiments.
Funding: this study did not receive financial support.
Conflict of interest: the authors declare that they have no conflict of interest.
Citation
Bomfim, M.H.S., Lima II, E.J., Monteiro, N.S. and Sena, V.A. (2021), "A new approach for hybrid (PID + MRAC) adaptive controller applied to two-axes McKibben muscle manipulator: a mechanism for human-robot collaboration", Industrial Robot, Vol. 48 No. 6, pp. 836-845. https://doi.org/10.1108/IR-12-2020-0267
Publisher
:Emerald Publishing Limited
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