An anthropomorphic robot arm driven by artificial muscles using a variable structure control

This paper introduces a new actuator which is able to confer to the robot arm. The arm actuated by pneumatic artificial antagonistic muscles resembles the movements of the human arm. In this work the problem of the control of this actuator is considered via a variable structure algorithm, and a comparison with a classical PID control given. High robustness performances with respect to model errors, parameter variations, and quick responses are obtained. The paper presents an experimental study of the variable structure control applied to the actuator considered. The control performances considered include step response and tracking trajectory modes.