dc.identifier.uri |
http://dx.doi.org/10.15488/3512 |
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dc.identifier.uri |
https://www.repo.uni-hannover.de:443/handle/123456789/3542 |
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dc.contributor.author |
Tödtheide, Alexander
|
ger |
dc.contributor.author |
Shahriari, Erfan
|
ger |
dc.contributor.author |
Haddadin, Sami
|
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dc.date.accessioned |
2018-07-09T09:08:08Z |
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dc.date.available |
2018-07-09T09:08:08Z |
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dc.date.issued |
2017 |
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dc.identifier.citation |
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 |
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dc.description.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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dc.description.sponsorship |
European Commission/H2020/688857/EU |
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dc.language.iso |
eng |
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dc.publisher |
Piscataway, NJ : Institute of Electrical and Electronics Engineers Inc. |
|
dc.relation |
info:eu-repo/grantAgreement/European Commission/H2020/688857/EU |
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dc.rights |
Es gilt deutsches Urheberrecht. Das Dokument darf zum eigenen Gebrauch kostenfrei genutzt, aber nicht im Internet bereitgestellt oder an Außenstehende weitergegeben werden. |
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dc.subject |
compliance and impedance control |
eng |
dc.subject |
hydraulic/pneumatic actuators |
eng |
dc.subject |
tendon/wire mechanism |
eng |
dc.subject.ddc |
621,3 | Elektrotechnik, Elektronik
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dc.title |
Tank based unified torque/impedance control for a pneumatically actuated antagonistic robot joint |
eng |
dc.type |
ConferenceObject |
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dc.type |
Text |
ger |
dc.relation.isbn |
978-1-5090-4633-1 |
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dc.relation.doi |
10.1109/ICRA.2017.7989149 |
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dc.description.version |
acceptedVersion |
ger |
tib.accessRights |
frei zug�nglich |
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