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Titel:

Tank based unified torque/impedance control for a pneumatically actuated antagonistic robot joint

Dokumenttyp:
Konferenzbeitrag
Autor(en):
Toedtheide, A.; Shahriari, E.; Haddadin, S.
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 tr...     »
Stichworte:
Force; Impedance; Pistons; Pneumatic systems; Robots; Tendons; Torque; compliance and impedance control; hydraulic/pneumatic actuators; tendon/wire mechanism
Kongress- / Buchtitel:
2017 IEEE International Conference on Robotics and Automation (ICRA)
Jahr:
2017
Monat:
May
Seiten:
1255-1262
Volltext / DOI:
doi:10.1109/ICRA.2017.7989149
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