%0 Journal Article
%T Position/force control of master每slave antagonistic joint actuated by water hydraulic artificial muscles
%A Dayong Ning
%A Hao Tian
%A Jiaoyi Hou
%A Jinkai Che
%A Yongjun Gong
%A Zengmeng Zhang
%J International Journal of Advanced Robotic Systems
%@ 1729-8814
%D 2019
%R 10.1177/1729881419853981
%X Because of the high force每weight ratio of water hydraulic artificial muscle and its high compatibility with an underwater environment, the water hydraulic artificial muscle has received increasing attention due to its potential uses in marine engineering applications. The master每slave anthropopathic joint actuated by water hydraulic artificial muscles is light and small, and it has good maneuverability for underwater manipulators. However, the control methodologies for water hydraulic artificial muscle joint have not been thoroughly explored to date. This article introduces a master每slave control system of isomorphic artificial muscle joints. The water hydraulic artificial muscle joint acts as a slave joint working under the sea, and the pneumatic artificial muscle joint acts as a master joint that is operated by people. The rotation angle signal of the pneumatic artificial muscle joint is fed back as the input to regulate the rotation angle of the water hydraulic artificial muscle joint through a proportional每integral每derivative control. Meanwhile, the torque of the pneumatic artificial muscle joint is controlled by a proportional每integral每derivative controller based on the feedback of a two-force-transducer system in the water hydraulic artificial muscle joint as input. Therefore, the operator can control the movement and feel the load of the water hydraulic artificial muscle slave joint. Master每slave control experiments were performed, and the position/torque control results were analyzed using various loads and torque gains. This study contributes to the design and control of an anthropopathic underwater manipulator
%K Underwater manipulators
%K master每slave control
%K anthropopathic joint
%K water hydraulic artificial muscles
%U https://journals.sagepub.com/doi/full/10.1177/1729881419853981