Evaluation of a Joint Hysteresis Model in a Robot Actuated by Pneumatic Muscles
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The 9th International Conference on Informatics in Control, Automation and Robotics
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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.