Michael Kastner, Hubert Gattringer, Hartmut Bremer, Ronald Naderer,
"Modeling and Control of a Seven Axes Hybrid Electric/Pneumatic Robot Arm"
: PAMM Special Issue: 82nd Annual Meeting of the International Association of Applied Mathematics and Mechanics (GAMM), Graz 2011, Vol. 11, Nummer 1, WILEY-VCH Verlag GmbH, Seite(n) 49-50, 12-2011
Original Titel:
Modeling and Control of a Seven Axes Hybrid Electric/Pneumatic Robot Arm
Sprache des Titels:
Englisch
Original Buchtitel:
PAMM Special Issue: 82nd Annual Meeting of the International Association of Applied Mathematics and Mechanics (GAMM), Graz 2011
Original Kurzfassung:
Passively compliant drive concepts are often used in bio-inspired robot designs. Especially fluidic artificial muscles share
many characteristics with their natural counterparts. Industrial manipulators can benefit from the increased robustness and
safety (in contrast to rigid drives) especially in cooperative human/robot environments. We compare different model-based
control concepts for a single rotational joint actuated by two fluidic muscles in combination with proportional valves. While
the complete valve and muscle models are already included in this setup, the mechanical model becomes more complex when
we extend the control to a full seven axes articulated robot arm with both, electrically and pneumatically actuated joints. In this
case the Projection Equation in subsystem description is used for the multibody model, allowing a straight-forward realtime
application to different robot kinematics. Remaining model errors and disturbances are handled by observer algorithms. We
present measurement results and compare them to simulation outputs. Besides the position control, possible approaches for
sensorless external force estimation are discussed. They take advantage of the compliance of the robot and are again based on
the actuator and multibody models.