Title:Evaluation of a Joint Hysteresis Model in a Robot Actuated by Pneumatic MusclesAuthor(s):Michael Kastner, Hubert Gattringer, Ronald NadererAbstract:Passively compliant drives are interesting alternatives to classical stiff actuators in emerging fields like human– robot cooperation, service and rehabilitation robotics. Pneumatic muscles have been found to be interesting low–cost actuators for such purposes. To fully realize the (desired) higher sensitivity and at the same time maintain a good control quality, detailed models of the robot’s own components are required. For pneumatic muscles, their hysteresis characteristic is a challenging property. In this paper we present a hysteresis model based on a Prandtl–Ishlinskii operator approach and evaluate the resulting performance when the inversemodel is used for compensation in the position controller. The evaluation is done on a real multi–axes robot arm.Booktitle:Proceedings of the 9th International Conference on Informatics in Control, Automation and RoboticsISBN:978-989-8565-22-8Page Reference:page 230-235, 6 page(s)Publishing:2012Volume:2