TY - CHAP 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 U6 - https://doi.org/10.1109/IECON.2015.7392676 SP - 3696 EP - 3701 PB - IEEE ER - TY - CHAP A1 - Weiß, Roman A1 - Großmann, Benjamin A1 - Leibold, Marion A1 - Schlegl, Thomas A1 - Wollherr, Dirk A1 - Weiss, Roman A1 - Grossmann, Benjamin T1 - Modeling and nonlinear control of antagonistically actuating pneumatic artificial muscles T2 - 2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM), 3-7 July 2017, Munich, Germany N2 - This paper discusses modeling and nonlinear control of a joint antagonistically actuated by two pneumatic, artificial muscles. A single model of the whole system is obtained by a combined physical and phenomenological modeling approach. The combined model for the joint, the muscles and the proportional valves results in a nonlinear, affine-in-control system description. The model is used to derive control laws for an input/output linearization approach to linearize the plant. Modeling and parametrization errors are covered via an outer control loop consisting of a state-feedback which is extended by an additional feedback of error integral. Extensive experimental results show the quality of the model and the performance of the respective control laws. KW - FORCE KW - Muscles KW - Pulleys KW - Robot sensing systems KW - Transfer functions KW - Valves Y1 - 2017 U6 - https://doi.org/10.1109/AIM.2017.8014001 SP - 94 EP - 99 PB - IEEE ER -