@inproceedings{BauerGrossmannSchlegletal., author = {Bauer, Gregor and Grossmann, Benjamin and Schlegl, Thomas and Kobayashi, Hiroshi}, title = {Modeling, identification and control of an antagonistically actuated joint for telerobotic systems}, series = {IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society, 9-12 Nov. 2015, Yokohama, Japan}, booktitle = {IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society, 9-12 Nov. 2015, Yokohama, Japan}, publisher = {IEEE}, doi = {10.1109/IECON.2015.7392676}, pages = {3696 -- 3701}, abstract = {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.}, language = {en} } @article{GrossmannSchlegl, author = {Grossmann, Benjamin and Schlegl, Thomas}, title = {Telerobotiksysteme zum industriellen Einsatz. Entwicklung einer vierkanaligen Regelungsarchitektur : Telerobotic systems for industrial applications. Development of a four-channel control architecture}, series = {atp edition. Automatisierungstechnische Praxis}, volume = {57}, journal = {atp edition. Automatisierungstechnische Praxis}, number = {6}, publisher = {DIV Deutscher Industrieverlag}, pages = {48 -- 55}, abstract = {Die Regensburg Robotics Research Unit entwickelt Regelungsarchitekturen f{\"u}r Telerobotiksysteme f{\"u}r den industriellen Einsatz. Der Beitrag beschreibt das lokale und globale Regelungsmodell hinsichtlich Stabilit{\"a}t und Transparenz auf der Basis der von Lawrence und Yokokohji vorgestellten Regelungsarchitektur und zeigt Simulationsergebnisse auf. Die Modellbildung des geregelten Manipulators, die Kopplung des Operators und des Teleoperators und sowie die {\"U}bertragungsfunktion werden dargestellt. Die Simulation des vorgestellten Algorithmus in Matlab/Simulink wird durchgef{\"u}hrt. Innerhalb der Simulationsumgebung ist als Regelstrecke unter der Annahme einer idealen, lokalen Regelung eine im Raum bewegliche Punktmasse modelliert. Die vorgestellte Regelungsarchitektur liefert innerhalb der durchgef{\"u}hrten Simulation vor allem im niederfrequenten Bereich sehr gute Ergebnisse. Die n{\"a}chsten Schritte sind die experimentelle Evaluierung der lokalen Architektur und der globalen Vierkanalarchitektur an den Robotern.}, language = {de} } @misc{ScharfenbergMottokArtmannetal., author = {Scharfenberg, Georg and Mottok, J{\"u}rgen and Artmann, Christina and Hobelsberger, Martin and Paric, Ivan and Großmann, Benjamin and Pohlt, Clemens and Wackerbarth, Alena and Pausch, Uli and Heidrich, Christiane and Fadanelli, Martin and Elsner, Michael and P{\"o}cher, Daniel and Pittroff, Lenz and Beer, Stefan and Br{\"u}ckl, Oliver and Haslbeck, Matthias and Sterner, Michael and Thema, Martin and Muggenthaler, Nicole and Lenck, Thorsten and G{\"o}tz, Philipp and Eckert, Fabian and Deubzer, Michael and Stingl, Armin and Simsek, Erol and Kr{\"a}mer, Stefan and Großmann, Benjamin and Schlegl, Thomas and Niedersteiner, Sascha and Berlehner, Thomas and Joblin, Mitchell and Mauerer, Wolfgang and Apel, Sven and Siegmund, Janet and Riehle, Dirk and Weber, Joachim and Palm, Christoph and Zobel, Martin and Al-Falouji, Ghassan and Prestel, Dietmar and Scharfenberg, Georg and Mandl, Roland and Deinzer, Arnulf and Halang, W. and Margraf-Stiksrud, Jutta and Sick, Bernhard and Deinzer, Renate and Scherzinger, Stefanie and Klettke, Meike and St{\"o}rl, Uta and Wiech, Katharina and Kubata, Christoph and Sindersberger, Dirk and Monkman, Gareth J. and Dollinger, Markus and Dembianny, Sven and K{\"o}lbl, Andreas and Welker, Franz and Meier, Matthias and Thumann, Philipp and Swidergal, Krzysztof and Wagner, Marcus and Haug, Sonja and Vernim, Matthias and Seidenst{\"u}cker, Barbara and Weber, Karsten and Arsan, Christian and Schone, Reinhold and M{\"u}nder, Johannes and Schroll-Decker, Irmgard and Dillinger, Andrea Elisabeth and Fuchshofer, Rudolf and Monkman, Gareth J. and Shamonin (Chamonine), Mikhail and Geith, Markus A. and Koch, Fabian and {\"U}hlin, Christian and Schratzenstaller, Thomas and Saßmannshausen, Sean Patrick and Auchter, Eberhard and Kriz, Willy and Springer, Othmar and Thumann, Maria and Kusterle, Wolfgang and Obermeier, Andreas and Udalzow, Anton and Schmailzl, Anton and Hierl, Stefan and Langer, Christoph and Schreiner, Rupert}, title = {Forschungsbericht / Ostbayerische Technische Hochschule Regensburg}, editor = {Baier, Wolfgang}, address = {Regensburg}, organization = {Ostbayerische Technische Hochschule Regensburg}, isbn = {978-3-00-048589-3}, doi = {10.35096/othr/pub-1386}, url = {http://nbn-resolving.de/urn:nbn:de:bvb:898-opus4-13867}, language = {de} }