TY - CONF A1 - Bauer, Gregor A1 - Grossmann, Benjamin A1 - Schlegl, Thomas A1 - Kobayashi, Hiroshi T1 - Modeling, identification and control of an antagonistically actuated joint for telerobotic systems T2 - IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society, 9-12 Nov. 2015, Yokohama, Japan N2 - Within this paper a modeling, identification and control technique for an antagonistically actuated joint consisting of two pneumatically actuated muscles is presented. The antagonistically actuated joint acts as a test bench for control architectures which are going to be used to control an exoskeleton within a telerobotic system. A static and dynamic model of the muscle and the joint is derived and the parameters of the models are identified using a least-squares algorithm. The control architecture, consisting of a inner pressure and an outer position controller is presented. The pressure controller is evaluated using switching valves compared against proportional valves. KW - DYNAMICS KW - FORCE KW - Muscles KW - Telerobotics KW - Torque KW - Valves Y1 - 2015 UR - https://opus4.kobv.de/opus4-oth-regensburg/frontdoor/index/index/docId/3750 SP - 3696 EP - 3701 PB - IEEE ER -