32results about How to "Stable output force" patented technology

The invention discloses a pneumatic muscle driving joint force position control method and device based on fuzzy admittance and a medium. According to the method, firstly, through dynamic adjustment of the fuzzy admittance model, accurate cooperative control over the joint position and the output force is effectively achieved; secondly, the self-adaptive capacity of the system to external disturbance is enhanced by monitoring the influence of the external disturbance on the joints in real time; and the fuzzy admittance model dynamically adjusts admittance parameters according to the data, so that the control requirements of force and position are balanced, and the system can still maintain a predetermined control effect under a disturbance condition. Finally, through closed-loop feedback control, in combination with real-time monitoring data and an expected control instruction, admittance parameters are continuously adjusted, and the stability and robustness of the system in a complex dynamic environment are enhanced.