Modeling and Force Control of Thin Soft McKibben Actuator
Ahmad Athif Mohd Faudzi*,***,†, Noor Hanis Izzuddin Mat Lazim**, and Koichi Suzumori***
*Center for Artificial Intelligence and Robotics (CAIRO), Universiti Teknologi Malaysia
Johor Bahru, Johor 81310, Malaysia
**Universiti Sains Islam Malaysia, Negeri Sembilan, Malaysia
***Department of Mechanical and Aerospace Engineering, Tokyo Institute of Technology, Tokyo, Japan
This paper presents the modeling of a thin soft McKibben actuator using the system identification (SI) method and its force control. Procedures from the system identification method are used to create a mathematical model (transfer function) from the test data. The autoregressive with exogenous input (ARX) model was chosen as the model structure of the system. Next, a PSO-PID controller was proposed for the force control of the actuator. The simulation data were verified against the test data for the force control using PSO-PID and conventional PID. Results showed that the developed model represents the actual system by giving the same characteristics in the force control analysis in step, multi-step, and sinusoidal input.
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