A HYSTERESIS BLACK-BOX MODEL OF A SOFT ROBOTIC ARM FEATURING PNEUMATIC ARTIFICIAL MUSCLE

This paper will present a hysteresis black-box model (HBLM) for identifying the hysteresis response of a robotic arm driven by a PAM actuator. The HBLM is based on the combination between Preisach hysteresis operator and fuzzy logic technique. As known, Preisach model is one of the potential methods for solving hysteresis dynamics of nonlinear models, however, to realize the classical Preisach model, it is necessary for applying the three or four points interpolation method in the Preisach plane. This may be time consuming in the implementation. Hence, the fuzzy logic technique is used to replace the interpolation. Finally, a test-rig is set up to evaluate the effectiveness of the proposed model. The experimental result confirmed that the identified curve tracks well the experimental curve. This work will furnish a useful insight to control systems driven by the PAM actuator