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Photonic Network Communications

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02-01-2019 | Original Paper

Optimal control scheme for pneumatic soft actuator under comparison of proportional and PWM-solenoid valves

Authors: Haiming Huang, Junhao Lin, Linyuan Wu, Bin Fang, Fuchun Sun

Published in: Photonic Network Communications | Issue 2/2019

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Abstract

Pneumatic soft actuator is a crucial component of soft robot. This paper proposes several pneumatic control schemes implemented with proportional and PWM-solenoid valves to achieve optimal control for pneumatic soft actuators adapted to different soft robots, such as soft gripper and soft humanoid hand. The schemes include: proportional valve; 3/2-way PWM-solenoid valve; 2/2-way PWM-solenoid valve. The control framework of these schemes contains human–machine interface in upper computer and control algorithm in lower computer. Sinusoidal and multi-step signals are served as reference input to draw a comparison of pressure tracking precision, steady-state accuracy and responsibility of these proposed schemes. The experimental results show that the scheme of proportional valve is more excellent than those of the PWM-solenoid valves, and the scheme of 3/2-way is superior to that of 2/2-way with regard to PWM-solenoid valve. Considering the cost, the scheme of 3/2-way PWM-solenoid valve is the most suitable choice for the system with multi-channel soft actuators. Therefore, the research achievement of this paper is providing a valuable suggestion on balancing the performance and cost for different soft robotic system applications.

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Title: Optimal control scheme for pneumatic soft actuator under comparison of proportional and PWM-solenoid valves
Authors: Haiming Huang
Junhao Lin
Linyuan Wu
Bin Fang
Fuchun Sun
Publication date: 02-01-2019
Publisher: Springer US
Published in: Photonic Network Communications / Issue 2/2019
Print ISSN: 1387-974X
Electronic ISSN: 1572-8188
DOI: https://doi.org/10.1007/s11107-018-0815-3

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