Control of a Parallel Manipulator Driven by Pneumatic Muscle Actuators Based on a Hysteresis Model(Mechanical Systems)

This paper presents an approach te mode1 酌 彗 the hysteresis rlonlinear 至 ty of pneumatic muscle uctuators and to coping with undesirable hysteres 重 s cffects in cuntrolHng a man ｛ pulator consisting of pneumatic muscles by using a hysteresis model ． The hysteresis mode ユis constructed 量 n the form of the Preisach model originally deve】 oped for magnetic materials and is used t〔) describe hystercsis nonlinearity in the relationship betwecn the contraCtion and internal pressure of pneumatic muscle ． This model is also used for control of a paraHel manipL1 】 ator driven by three pneulnatic muscles ． The contrDl system