Modeling, identification and control of an antagonistically actuated joint for telerobotic systems
- 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.
Author: | Gregor Bauer, Benjamin Grossmann, Thomas SchleglORCiD, Hiroshi Kobayashi |
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DOI: | https://doi.org/10.1109/IECON.2015.7392676 |
Parent Title (English): | IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society, 9-12 Nov. 2015, Yokohama, Japan |
Publisher: | IEEE |
Document Type: | conference proceeding (article) |
Language: | English |
Year of first Publication: | 2015 |
Release Date: | 2022/05/06 |
Tag: | DYNAMICS; FORCE; Muscles; Telerobotics; Torque; Valves |
First Page: | 3696 |
Last Page: | 3701 |
Institutes: | Fakultät Maschinenbau |
Begutachtungsstatus: | peer-reviewed |
research focus: | Digitalisierung |
Licence (German): | Keine Lizenz - Es gilt das deutsche Urheberrecht: § 53 UrhG |