Work

Collaborative Control of Robot Joints With PAM-Motor Dual-Source Coupled Actuation

Year: 2025

Type: article

Abstract: Robotic joints frequently encounter the difficulty of concurrently attaining a lightweight design, compliance, and secure human-robot connection, all while preserving high precision and substantial driving torque. This study enhances a previously proposed PAM-Motor dual-source coupled collaborative actuation joint structure by constructing a nonlinear dynamic model and a backstepping control approach to augment motion precision and dependability. To address the pronounced nonlinear hysteresis and restricted control precision characteristic of pneumatic artificial muscles (PAMs), a collaborative PAM-Motor joint architecture is examined, and a coupled dynamic model is developed. A backstepping control approach is devised to attain accurate and highly dependable joint motion control. The simulation findings indicate that the proposed control method markedly improves the load-bearing capacity, control accuracy, and dynamic responsiveness of the previously built robotic joint. This study establishes a strong basis for subsequent experimental validation and the formulation of resilient and adaptive control techniques.

Source: IEEE Access

DOI: 10.1109/access.2025.3645897

Authors: Huilan Li, Xiaolan Yu, Xiangyang Xu

Institutions: Chongqing Jiaotong University, Chongqing City Vocational College

Language: English

Topic: Soft Robotics and Applications

Subfield: Biomedical Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: gold

Estimated APC paid: $2,075

Funder: Natural Science Foundation of Chongqing