Janos Gyeviki - Academia.edu (original) (raw)
Papers by Janos Gyeviki
Biomechanica Hungarica, Nov 5, 2010
The main disadvantage of the pneumatic artificial muscles (PAMs) is that their dynamic behaviour ... more The main disadvantage of the pneumatic artificial muscles (PAMs) is that their dynamic behaviour is highly nonlinear. Designing an adequate control mechanism for this highly non-linear system needs precise modelling. This paper presents our new, accurate and simple approximation model of PAM, comparing with measured and literary data
As an important driver element, the pneumatic artificial muscle (PAM) is widely used in industria... more As an important driver element, the pneumatic artificial muscle (PAM) is widely used in industrial applications for many automation purposes thanks to their variety of advantages. Th e design of a stable robust position controller for PAM is difficult since it is a very nonlinear timevariant controlled plant because of the compressibility of air, air mass flow rate through the valve, etc. The main contribution o f this paper is a robust position control method based on sliding mod e for a robot arm, driven by pneumati c muscle actuator. Finally, it presents experimental results
' 3% 2bA2D<5B3D# >% 85A9!1>D# E% 213A91 ' AbjYgh][Uh]cb aYh\cXg c Z h\Y UWcigh]W Z]Y`X [YbYfUhYX ... more ' 3% 2bA2D<5B3D# >% 85A9!1>D# E% 213A91 ' AbjYgh][Uh]cb aYh\cXg c Z h\Y UWcigh]W Z]Y`X [YbYfUhYX Vm h\Y Y`YWhf]WU` ]bghU``Uh]cbg , 4% 2DH4D71># E% 1% f5A21># 3% 3?4A51># 4% DCD# 3% ?@A9! $ =ld 5f]aYbhg fY[UfX]b[ h\Y Y`UVcfUh]cb cZ ZYffcaU[bYh]W Vi`_ bUbcWfmghU``]bY U``cmg-2% 3?H=1# 7 DA451# 9% 4D=9CA5B3D# E% 9CD ' KhUbX Zcf h\Y fchUh]jY Vcf]b[ c Z gcZh fcW_g. 3% 4?A?8?9# 9% =9C5<51# 3% =% 3A139D>5B3D ' L\Y dfcWYgg cZ `cUX]b[ UbX ib`cUX]b[ WUdUW]hcfg ghcfYX YbYf[m kY`X]b[ cb >Y'Eb'K] g\UdY aYacfm U``cmg / 3% 7A?H1# 9% =9C5<51# =% @?@5B3D ' 9gdYWhg c Z UighYb]h]W ghU]b`Ygg ghYY`g kY`XUV]`]hm , 1% :DA31# 5% 78939?9# >% EbC1ED# 6% 25AH1> ' J]g_ ][b]h]cb UggYggaYbh aYh\cXc`c[m Zcf h\Y bcb' Y`YWhf]WU` Yei]daYbh ]bhYbXYX Zcf igY ]b Ybj]fcbaYbhg YbXUb[YfYX Vm Yld`cg]jY Uhacg\dYfYg 1 F(@1!31# 3% 25389A# >% 61DA $ KhiXm cZ h\YcfYh]WU` bca]bU` WcYZZ]W]Ybh jUf]Uh]cb cZ ghfYgg WcbWYbhfUh]cb VUgYX cb h\Y X]ghUbWY VYhkYYb hkc \c`Yg ibVU`UbWYX Zcf U d`UhY c Z Z]b]hY k]Xh\. =% @?!?71># <% 2?C9<b# 3% 39D3b# 1% 31H13D ' <YjY`cdaYbh cZ >KO kY`X]b[ hcc`g Zcf 9` 0*2,'h0/+ UbX 9+ 1*1/'h0/+ \UfX U`ia]b]ia U``cmg 3 A% A?!D# 4% DCD ' 9dd`]WUh]cbg c Z h\Y @NG> h\YfaU` gdfUm]b[ dfcWYgg ]b gifZUWY Yb[]bYYf]b[ ;MHJAFK 3% 2bA2D<5B3D# >% 85A9!1>D# E% ' 213A91 ' EYhcXY XY ]bjYgh][UfY U Wtadi`i] UWigh]W dfcXig XY ]bghU`Uh]]`Y Y`YWhf]WY 4% 2DH4D71># E% 1% !5A21># 3%-3?4A51># 4% DCD# 3% ?@A9! $ =ldYf]aYbhtf] df]j]bX cVh]bYfYU U`]U^Y`cf ZYfcaU[bYh]WY bUbcWf]ghU`]bY aUg]jY 2% 3?H=1# 7% DA451# 9% ') 4D=9CA5B3D# E% 9CD ' KhUbX dYbhfi dYfZcfUfYU fchUh]jt U fcW]`cf ac]
There are several types o f pneumatic actuators in industrial environment. The newest and most pr... more There are several types o f pneumatic actuators in industrial environment. The newest and most promising is the pneumatic artificial muscle (PAM). Many researchers have investigated the behaviour of PAM and some o f them have introduced different mathematical models for this actuator. However, we have noticed significant differences between the theoretical and experimental results. This paper presents our new mathematical model o f PAM, comparing with measured and literary data.
Szent István University Faculty of Mechanical Engineering, 2009
Several control ways have been applied to control different humanoid or robot arms, manipulators,... more Several control ways have been applied to control different humanoid or robot arms, manipulators, prosthetic and therapy devices driven by pneumatic artificial muscles (PAMs). The early control methods were based on classical linear controllers and then some modern control strategies have been developed (e. g. adaptive controller, sliding-mode controller, fuzzy controller, neural network controller and others) ([1], [2] and [3]). This paper presents a humanoid upper arm and discusses its positioning using sliding-mode control.
Design and application of the robust and accurate position control for pneumatic cylinders based ... more Design and application of the robust and accurate position control for pneumatic cylinders based on the sliding-mode technique is presented by experimental investigations. The paper describes the model of the pneumatic cylinder and the three main design steps of the proposed control method. The aim of this paper is to investigate controlling pneumatic actuators using a Programmable Logic Controller (PLC) instead of micro-controllers chips. As PLCs are now involved in most industrial processes.
Jelenkori Társadalmi és Gazdasági Folyamatok, 2010
As an important driver element, the pneumatic artificial muscle (PAM) is widely used in industria... more As an important driver element, the pneumatic artificial muscle (PAM) is widely used in industrial applications for many automation purposes thanks to their variety of advantages. The design of a stable robust position controller for PAM is difficult since it is a very nonlinear time-variant controlled plant because of the compressibility of air, air mass flow rate through the valve, etc. The main contribution of this paper is a robust position control method based on sliding mode for pneumatic muscle actuator. Finally, it presents experimental results.
Jelenkori Társadalmi és Gazdasági Folyamatok, 2010
Many important activities of daily living (e. g. dressing and eating) depend on two-handed functi... more Many important activities of daily living (e. g. dressing and eating) depend on two-handed function. For people affected by stroke, frequent physical therapy has been suggested to be a successful rehabilitation. The use of robotic devices to assist the therapies is becoming more commonly, but traditional robots are usually stiff. The devices have to be able to provide the treatment way of repetitive practice. More and more devices consist of pneumatic artificial muscles (PAMs) as a good solution for actuators. There is a need for affordable, economical, low cost, lightweight, practical, low stiffness, multi-dimensional and low noise operation devices to assist therapy. In this paper we present some possibilities of use of PAM in rehabilitation devices.
Jelenkori Társadalmi és Gazdasági Folyamatok, 2010
Pneumatic artificial muscles (PAMs) are becoming more commonly used as actuators in modern roboti... more Pneumatic artificial muscles (PAMs) are becoming more commonly used as actuators in modern robotics. The most made and common type of these artificial muscles in use is the McKibben artificial muscle that was developed in 1950's. The braided muscle is composed of gas-tight elastic bladder, surrounded by braided sleeves. Typical materials used for the membrane constructions are latex and silicone rubber, while nylon is normally used in the fibres. This paper presents the geometric model of PAM and different MATLAB models for pneumatic artificial muscles. The aim of our models is to relate the pressure and length of the pneumatic artificial muscles to the force it exerts along its entire exists.
Analecta Technica Szegedinensia, 2013
The newest and most promising type of pneumatic actuators is the pneumatic artificial muscle (PAM... more The newest and most promising type of pneumatic actuators is the pneumatic artificial muscle (PAM). Different designs have been developed, but the McKibben muscle is the most popular and is made commercially available by different companies (e. g. Fluidic Muscle manufactured by Festo Company). The most often mentioned characteristic of PAMs is the force as a function of pressure and contraction. In this paper our newest function approximation for the force generated by Fluidic Muscles is shown that can be generally used for different muscles made by Festo Company.
2009 7th International Symposium on Intelligent Systems and Informatics, 2009
… Annals of Faculty of …, 2009
Abstract: As an important driver element, the pneumatic artificial muscle (PAM) is widely used in... more Abstract: As an important driver element, the pneumatic artificial muscle (PAM) is widely used in industrial applications for many automation purposes thanks to their variety of advantages. The design of a stable robust position controller for PAM is difficult since it is ...
… on Science and …, 2008
Abstract: Pneumatic artificial muscles (PAMs) are contractile or extensional devices operated by ... more Abstract: Pneumatic artificial muscles (PAMs) are contractile or extensional devices operated by pressurized air. Similarly to human muscles, PAMs are usually coupled antagonistically. PAMs were first developed (under the name of McKibben Artificial ...
2009 5th International Symposium on Applied Computational Intelligence and Informatics, 2009
I. INTRODUCTION As an important driver element, the pneumatic cylinder is widely used in industri... more I. INTRODUCTION As an important driver element, the pneumatic cylinder is widely used in industrial applications for many automation purposes thanks to their variety of advantages, such as: simple, clean, low cost, high speed, high power to weight ratio, easy maintenance and ...
Design and application of the accurate position control for a pneumatic cylinder based on the sli... more Design and application of the accurate position control for a pneumatic cylinder based on the sliding mode technique is presented. The controller is implemented on a TMS320LF2407 DSP based controller board. The advantage of the proposed algorithm for position control is the accuracy better than 10 µ m, approved through the wide range of dynamic and static load (disturbance) variation in the entire operation area. The paper describes the nonlinear model of the pneumatic cylinder and the three main design steps of the proposed control method ; sliding surface design, control law selection and chattering free implementation. The large number of experimental tests on the servopneumatic system with proposed sliding mode algorithm confirmed high accuracy and robustness in the horizontal and vertical position control.
2006 12th International Power Electronics and Motion Control Conference, 2006
The main contribution of this paper is a robust and precise position control method based on slid... more The main contribution of this paper is a robust and precise position control method based on sliding mode for a pneumatic cylinder. The controller is implemented on a DSP system. The main challenge is the higher accuracy than 10 mum, which can be ensured with wide range of variation of the load (disturbance) and pressure in the entire operation area.
Biomechanica Hungarica, Nov 5, 2010
The main disadvantage of the pneumatic artificial muscles (PAMs) is that their dynamic behaviour ... more The main disadvantage of the pneumatic artificial muscles (PAMs) is that their dynamic behaviour is highly nonlinear. Designing an adequate control mechanism for this highly non-linear system needs precise modelling. This paper presents our new, accurate and simple approximation model of PAM, comparing with measured and literary data
As an important driver element, the pneumatic artificial muscle (PAM) is widely used in industria... more As an important driver element, the pneumatic artificial muscle (PAM) is widely used in industrial applications for many automation purposes thanks to their variety of advantages. Th e design of a stable robust position controller for PAM is difficult since it is a very nonlinear timevariant controlled plant because of the compressibility of air, air mass flow rate through the valve, etc. The main contribution o f this paper is a robust position control method based on sliding mod e for a robot arm, driven by pneumati c muscle actuator. Finally, it presents experimental results
' 3% 2bA2D<5B3D# >% 85A9!1>D# E% 213A91 ' AbjYgh][Uh]cb aYh\cXg c Z h\Y UWcigh]W Z]Y`X [YbYfUhYX ... more ' 3% 2bA2D<5B3D# >% 85A9!1>D# E% 213A91 ' AbjYgh][Uh]cb aYh\cXg c Z h\Y UWcigh]W Z]Y`X [YbYfUhYX Vm h\Y Y`YWhf]WU` ]bghU``Uh]cbg , 4% 2DH4D71># E% 1% f5A21># 3% 3?4A51># 4% DCD# 3% ?@A9! $ =ld 5f]aYbhg fY[UfX]b[ h\Y Y`UVcfUh]cb cZ ZYffcaU[bYh]W Vi`_ bUbcWfmghU``]bY U``cmg-2% 3?H=1# 7 DA451# 9% 4D=9CA5B3D# E% 9CD ' KhUbX Zcf h\Y fchUh]jY Vcf]b[ c Z gcZh fcW_g. 3% 4?A?8?9# 9% =9C5<51# 3% =% 3A139D>5B3D ' L\Y dfcWYgg cZ `cUX]b[ UbX ib`cUX]b[ WUdUW]hcfg ghcfYX YbYf[m kY`X]b[ cb >Y'Eb'K] g\UdY aYacfm U``cmg / 3% 7A?H1# 9% =9C5<51# =% @?@5B3D ' 9gdYWhg c Z UighYb]h]W ghU]b`Ygg ghYY`g kY`XUV]`]hm , 1% :DA31# 5% 78939?9# >% EbC1ED# 6% 25AH1> ' J]g_ ][b]h]cb UggYggaYbh aYh\cXc`c[m Zcf h\Y bcb' Y`YWhf]WU` Yei]daYbh ]bhYbXYX Zcf igY ]b Ybj]fcbaYbhg YbXUb[YfYX Vm Yld`cg]jY Uhacg\dYfYg 1 F(@1!31# 3% 25389A# >% 61DA $ KhiXm cZ h\YcfYh]WU` bca]bU` WcYZZ]W]Ybh jUf]Uh]cb cZ ghfYgg WcbWYbhfUh]cb VUgYX cb h\Y X]ghUbWY VYhkYYb hkc \c`Yg ibVU`UbWYX Zcf U d`UhY c Z Z]b]hY k]Xh\. =% @?!?71># <% 2?C9<b# 3% 39D3b# 1% 31H13D ' <YjY`cdaYbh cZ >KO kY`X]b[ hcc`g Zcf 9` 0*2,'h0/+ UbX 9+ 1*1/'h0/+ \UfX U`ia]b]ia U``cmg 3 A% A?!D# 4% DCD ' 9dd`]WUh]cbg c Z h\Y @NG> h\YfaU` gdfUm]b[ dfcWYgg ]b gifZUWY Yb[]bYYf]b[ ;MHJAFK 3% 2bA2D<5B3D# >% 85A9!1>D# E% ' 213A91 ' EYhcXY XY ]bjYgh][UfY U Wtadi`i] UWigh]W dfcXig XY ]bghU`Uh]]`Y Y`YWhf]WY 4% 2DH4D71># E% 1% !5A21># 3%-3?4A51># 4% DCD# 3% ?@A9! $ =ldYf]aYbhtf] df]j]bX cVh]bYfYU U`]U^Y`cf ZYfcaU[bYh]WY bUbcWf]ghU`]bY aUg]jY 2% 3?H=1# 7% DA451# 9% ') 4D=9CA5B3D# E% 9CD ' KhUbX dYbhfi dYfZcfUfYU fchUh]jt U fcW]`cf ac]
There are several types o f pneumatic actuators in industrial environment. The newest and most pr... more There are several types o f pneumatic actuators in industrial environment. The newest and most promising is the pneumatic artificial muscle (PAM). Many researchers have investigated the behaviour of PAM and some o f them have introduced different mathematical models for this actuator. However, we have noticed significant differences between the theoretical and experimental results. This paper presents our new mathematical model o f PAM, comparing with measured and literary data.
Szent István University Faculty of Mechanical Engineering, 2009
Several control ways have been applied to control different humanoid or robot arms, manipulators,... more Several control ways have been applied to control different humanoid or robot arms, manipulators, prosthetic and therapy devices driven by pneumatic artificial muscles (PAMs). The early control methods were based on classical linear controllers and then some modern control strategies have been developed (e. g. adaptive controller, sliding-mode controller, fuzzy controller, neural network controller and others) ([1], [2] and [3]). This paper presents a humanoid upper arm and discusses its positioning using sliding-mode control.
Design and application of the robust and accurate position control for pneumatic cylinders based ... more Design and application of the robust and accurate position control for pneumatic cylinders based on the sliding-mode technique is presented by experimental investigations. The paper describes the model of the pneumatic cylinder and the three main design steps of the proposed control method. The aim of this paper is to investigate controlling pneumatic actuators using a Programmable Logic Controller (PLC) instead of micro-controllers chips. As PLCs are now involved in most industrial processes.
Jelenkori Társadalmi és Gazdasági Folyamatok, 2010
As an important driver element, the pneumatic artificial muscle (PAM) is widely used in industria... more As an important driver element, the pneumatic artificial muscle (PAM) is widely used in industrial applications for many automation purposes thanks to their variety of advantages. The design of a stable robust position controller for PAM is difficult since it is a very nonlinear time-variant controlled plant because of the compressibility of air, air mass flow rate through the valve, etc. The main contribution of this paper is a robust position control method based on sliding mode for pneumatic muscle actuator. Finally, it presents experimental results.
Jelenkori Társadalmi és Gazdasági Folyamatok, 2010
Many important activities of daily living (e. g. dressing and eating) depend on two-handed functi... more Many important activities of daily living (e. g. dressing and eating) depend on two-handed function. For people affected by stroke, frequent physical therapy has been suggested to be a successful rehabilitation. The use of robotic devices to assist the therapies is becoming more commonly, but traditional robots are usually stiff. The devices have to be able to provide the treatment way of repetitive practice. More and more devices consist of pneumatic artificial muscles (PAMs) as a good solution for actuators. There is a need for affordable, economical, low cost, lightweight, practical, low stiffness, multi-dimensional and low noise operation devices to assist therapy. In this paper we present some possibilities of use of PAM in rehabilitation devices.
Jelenkori Társadalmi és Gazdasági Folyamatok, 2010
Pneumatic artificial muscles (PAMs) are becoming more commonly used as actuators in modern roboti... more Pneumatic artificial muscles (PAMs) are becoming more commonly used as actuators in modern robotics. The most made and common type of these artificial muscles in use is the McKibben artificial muscle that was developed in 1950's. The braided muscle is composed of gas-tight elastic bladder, surrounded by braided sleeves. Typical materials used for the membrane constructions are latex and silicone rubber, while nylon is normally used in the fibres. This paper presents the geometric model of PAM and different MATLAB models for pneumatic artificial muscles. The aim of our models is to relate the pressure and length of the pneumatic artificial muscles to the force it exerts along its entire exists.
Analecta Technica Szegedinensia, 2013
The newest and most promising type of pneumatic actuators is the pneumatic artificial muscle (PAM... more The newest and most promising type of pneumatic actuators is the pneumatic artificial muscle (PAM). Different designs have been developed, but the McKibben muscle is the most popular and is made commercially available by different companies (e. g. Fluidic Muscle manufactured by Festo Company). The most often mentioned characteristic of PAMs is the force as a function of pressure and contraction. In this paper our newest function approximation for the force generated by Fluidic Muscles is shown that can be generally used for different muscles made by Festo Company.
2009 7th International Symposium on Intelligent Systems and Informatics, 2009
… Annals of Faculty of …, 2009
Abstract: As an important driver element, the pneumatic artificial muscle (PAM) is widely used in... more Abstract: As an important driver element, the pneumatic artificial muscle (PAM) is widely used in industrial applications for many automation purposes thanks to their variety of advantages. The design of a stable robust position controller for PAM is difficult since it is ...
… on Science and …, 2008
Abstract: Pneumatic artificial muscles (PAMs) are contractile or extensional devices operated by ... more Abstract: Pneumatic artificial muscles (PAMs) are contractile or extensional devices operated by pressurized air. Similarly to human muscles, PAMs are usually coupled antagonistically. PAMs were first developed (under the name of McKibben Artificial ...
2009 5th International Symposium on Applied Computational Intelligence and Informatics, 2009
I. INTRODUCTION As an important driver element, the pneumatic cylinder is widely used in industri... more I. INTRODUCTION As an important driver element, the pneumatic cylinder is widely used in industrial applications for many automation purposes thanks to their variety of advantages, such as: simple, clean, low cost, high speed, high power to weight ratio, easy maintenance and ...
Design and application of the accurate position control for a pneumatic cylinder based on the sli... more Design and application of the accurate position control for a pneumatic cylinder based on the sliding mode technique is presented. The controller is implemented on a TMS320LF2407 DSP based controller board. The advantage of the proposed algorithm for position control is the accuracy better than 10 µ m, approved through the wide range of dynamic and static load (disturbance) variation in the entire operation area. The paper describes the nonlinear model of the pneumatic cylinder and the three main design steps of the proposed control method ; sliding surface design, control law selection and chattering free implementation. The large number of experimental tests on the servopneumatic system with proposed sliding mode algorithm confirmed high accuracy and robustness in the horizontal and vertical position control.
2006 12th International Power Electronics and Motion Control Conference, 2006
The main contribution of this paper is a robust and precise position control method based on slid... more The main contribution of this paper is a robust and precise position control method based on sliding mode for a pneumatic cylinder. The controller is implemented on a DSP system. The main challenge is the higher accuracy than 10 mum, which can be ensured with wide range of variation of the load (disturbance) and pressure in the entire operation area.