Toedtheide, A.; Shahriari, E.; Haddadin, S.: Tank based unified torque/impedance control for a pneumatically actuated antagonistic robot joint 2017. In: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), S. 1255-1262. Piscataway, NJ : IEEE, 2017. DOI:
https://doi.org/10.1109/ICRA.2017.7989149
Abstract: |
In this paper the concept of a unified torque/impedance controller is applied to a pneumatically actuated, antagonistic robot joint. The investigated control algorithm consists of a cascaded structure in which the outer torque/impedance controller commands a desired torque to two cylinder-based force controllers. The torque-/impedance controller is equipped with a virtual tank that ensures passivity of the control loops above force level. Additionally, a shaping function provides a continuous transition to impedance control in case of sudden contact loss during a torque control operation. External torques used in the feedback loop for contact force regulation are estimated by a momentum observer. Experimental and simulation results show a maximum deflection of 9.7° over 130 ms in case of contact loss until a resting position is reached. Additionally, step and sinusoidal torque tracking up to 5 Hz was successfully tested at good performance.
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License of this version: |
Es gilt deutsches Urheberrecht. Das Dokument darf zum eigenen Gebrauch kostenfrei genutzt, aber nicht im Internet bereitgestellt oder an Außenstehende weitergegeben werden. |
Publication type: |
ConferenceObject |
Publishing status: |
acceptedVersion |
Publication date: |
2017 |
Keywords english: |
compliance and impedance control, hydraulic/pneumatic actuators, tendon/wire mechanism
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DDC: |
621,3 | Elektrotechnik, Elektronik
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