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Modelling and Using of McKibben Pneumatic Muscle in Haptic
Kopečný, Lukáš ; Janotková, Eva (referee) ; Nevřiva,, Pavel (referee) ; Šolc, František (advisor)
This work describes exceptional properties of McKibben pneumatical muscle and introduces its state-of-the-art model. The mathematical model is extended especially in a field of a thermodymical behavior. A new model applies a method used for describing of a thermodynamical behavior of pneumatic cylinders until now. This method is significantly upgraded to fit a muscle behavior, particularly by considering a heat generated by a muscle internal natural friction. The model is than verified and discussed with a real system. The haptic part introduces a development and design of a haptic glove interface for the use in robotics, especially in telepresence, or in VR. The force and touch feedback is provided by Pneumatic Muscles controlled by an open loop algorithm using the introduced mathematical model. The design is light and compact.
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Control of antagonistic pair of Pneumatic Muscles
Klapil, Ondřej ; Burian, František (referee) ; Kopečný, Lukáš (advisor)
This thesis deals with controls of pneumatic muscles in antagonistic involvement. Mathematical-physical model of McKibben's pneumatic muscle is deduced in this work. A computer model is created using Matlab and the method of controls of the muscle is designed. The next section describes a real system with pneumatic muscles, its practical realization and design of controllers for this system. The last part is a comparison of the created mathematical-physical model and the real system with regard to the possibility of using the model for designing controllers for real systems.
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Control of Pneumatic Muscles
Michna, Jakub ; Kříž, Vlastimil (referee) ; Kopečný, Lukáš (advisor)
This work deals with basic properties of McKibben pneumatic muscle and indetification of the parameters of the model of pneumatic muscle. To identify the parameters of the model of pneumatic muscle is used MATLAB function Fminsearch. The result of this work is the comparison of the model of pneumatic muscle with real pneumatic muscle, based on the similarity of waveforms of absolute pressure and on the similarity of instantaneous lenit of pneumatic muscle.
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Control of Pneumatic Muscles
Michna, Jakub ; Kříž, Vlastimil (referee) ; Kopečný, Lukáš (advisor)
This work deals with basic properties of McKibben pneumatic muscle and indetification of the parameters of the model of pneumatic muscle. To identify the parameters of the model of pneumatic muscle is used MATLAB function Fminsearch. The result of this work is the comparison of the model of pneumatic muscle with real pneumatic muscle, based on the similarity of waveforms of absolute pressure and on the similarity of instantaneous lenit of pneumatic muscle.
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Control of antagonistic pair of Pneumatic Muscles
Klapil, Ondřej ; Burian, František (referee) ; Kopečný, Lukáš (advisor)
This thesis deals with controls of pneumatic muscles in antagonistic involvement. Mathematical-physical model of McKibben's pneumatic muscle is deduced in this work. A computer model is created using Matlab and the method of controls of the muscle is designed. The next section describes a real system with pneumatic muscles, its practical realization and design of controllers for this system. The last part is a comparison of the created mathematical-physical model and the real system with regard to the possibility of using the model for designing controllers for real systems.
|
|
|
Modelling and Using of McKibben Pneumatic Muscle in Haptic
Kopečný, Lukáš ; Janotková, Eva (referee) ; Nevřiva,, Pavel (referee) ; Šolc, František (advisor)
This work describes exceptional properties of McKibben pneumatical muscle and introduces its state-of-the-art model. The mathematical model is extended especially in a field of a thermodymical behavior. A new model applies a method used for describing of a thermodynamical behavior of pneumatic cylinders until now. This method is significantly upgraded to fit a muscle behavior, particularly by considering a heat generated by a muscle internal natural friction. The model is than verified and discussed with a real system. The haptic part introduces a development and design of a haptic glove interface for the use in robotics, especially in telepresence, or in VR. The force and touch feedback is provided by Pneumatic Muscles controlled by an open loop algorithm using the introduced mathematical model. The design is light and compact.
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