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.

中文翻译：

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一种应用于两轴 McKibben 肌肉机械手的混合（PID + MRAC）自适应控制器的新方法：一种人机协作机制

目的

本文旨在提出一种新方法，称为混合模型参考自适应控制器或 H-MRAC，用于混合控制器（比例-积分-微分 [PID + MRAC]），用于控制气动机械手的位置。

设计/方法/方法

它是使用航海网、乳胶和高密度聚乙烯连接器开发的 McKibben 肌肉，并构建了一个由这些肌肉驱动的具有两个自由度的肘部操纵器。然后提出了基于植物现象学特征的H-MRAC控制律，旨在实现快速响应和低阻尼。Lyapunov 的理论被用作项目方法，确保控制系统的渐近稳定性。

发现

它为气动机械手开发了一个精确的控制系统，并将结果与​​以前的研究进行了比较。

研究限制/影响

在协作机器人技术中，人和机器占据相同的工作空间。这项研究促进了发生碰撞时更安全、更自满的机电系统的开发。

实际影响

作为实际意义，该研究允许用 McKibben 肌肉在高精度工业机器人中替代电动机。

社会影响

气动机械手将使人机物理交互更安全，因为它可以防止导致受害者或设备故障的灾难性碰撞。

原创性/价值

与文献结果相比，本研究显示位置跟踪的全局误差分别比 MRAC 和自适应比例积分微分 (A-PID) 低 37.51% 和 36.74%，验证了其有效性。