Tracking Control of Pneumatic Artificial Muscle-Activated Robot Arm Based on Sliding-Mode Control

This study discusses a circular trajectory tracking function through a proposed pneumatic artificial muscle (PAM)-actuated robot manipulator. First, a dynamic model between a robot arm and a PAM cylinder is introduced. Then the parameters thereof are identified through a genetic algorithm (GA). Finally, PID is used along with a high-order sliding-mode feedback controller to perform circular trajectory tracking. As the experimental results show, the parameters of sampling time and moment of inertia are set to accomplish the trajectory tracking task in this study. In addition, the maximum error between the objective locus and the following locus was 11.3035 mm when applying theta-axis control to the circular trajectory of the robot arm with zero load or lower load. In an experiment of controller comparison, the results demonstrate that a high-order sliding-mode feedback controller is more robust in resisting external interference and the uncertainty of modeling, making the robot arm have good performance when tracking.

Automated summary

This study discusses circular trajectory tracking using a robot manipulator actuated by PAM, with parameters identified using GA. A combination of PID and high-order sliding-mode feedback controller is used for trajectory tracking. Experimental results show that setting parameters such as sampling time and moment of inertia can achieve trajectory tracking tasks, with a high-order sliding-mode feedback controller showing better robustness in external interference situations.