Flexible Joints Of The Pneumatic Artificial Muscles Driven Intelligent Control Algorithm

The Mckibben muscle is one kind of relatively new-style actuator. It is one kind of the movement engine which is drived by the pneumatic may contract. The major characteristic of it is light and supple, meanwhile it can output enough force. Because of the similarity to the biological muscle, when it is used in the robot, the robot is easy to produce animal-like movement.Because of its inborn flexibility, the robot, when interacting with the environment, it is easy to produce gentle touching and relative security operation, therefore in area of industry assembly,spray coating, capture brittle goods and so on, it has the latent huge application value. Due to the Mckibben muscle's Nonlinearity and its inborn flexibility, the joint system of robot drived by it also has definite compliance,thus it is diffcult to control it accurately. Some literatures on solving this is either PID controlling or single intelligent algorithm. Because of variability of load, the outer disturbance and friction between axles and so on, traditional PID control is difficult to meet the needs and single algorithm also has limitation.based on that,,the PID and some intelligent algorithm are studied for thejoint control and the improvement of system tracking.CMAC is abbreviation of Cerebellar Model Artieulation Contrer. It is a neural network model on simulating the function of cerebellar. Its learning method isδ-agorithm. At present, the anti-outside disturbance ability of PID control algorithm which is widely used in robot joint controls is bad, and the adaptiveness to system's design parameter change is not good, too.It also affects control system's robustness. However,the development of robot system reqires the robot control to have the fast track capacity, high tracking accuracy and fine robustness.thus it is an intresting problem to find an more effective controlling algoritnm.this paper puts forward the hybrid control algorithm to the humanoid joint based on CMAC and PID and the analyse Comparation for the Efficiency is srudied.Then computer simulation testing is carried out by MATLAB and The simulation result proves that this algorithm has the very big enhancement in the control quality and behaves the very good performance in dynamic response speed, stability and adaptability.