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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.

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Metadaten
Author:Gregor Bauer, Benjamin Grossmann, Thomas SchleglORCiD, Hiroshi Kobayashi
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