Antagonistic Impedance Control for Pneumatically Actuated Robot Joints

verfasst von

A. Toedtheide, T. Lilge, S. Haddadin

Abstract

This letter presents a novel joint torque-based impedance controller for antagonistically driven flexible joints actuated by pneumatic cylinders and compares it with the current state of the art. The work targets on transferring soft-robotics control concepts from classical motor-gear-torque sensor setups to pneumatic systems, with the goal of achieving similar performance levels in comparison to this well established technology. A detailed flexible joint model is derived that incorporates the pneumatic and mechanical dynamics of the proposed antagonistic design. This model is used for analyzing model-based control approaches, which in turn are based on reduced order dynamics. The tendon-based joint level impedance controller enables the simultaneous adjustment of closed-loop stiffness and damping. The proposed scheme shows good simulation results for both, position tracking and compliance performance, respectively. Experimentally, an angular position tracking of 7 Hz could be achieved. Also, stable rigid contacts could be established at considerable impact speed.

Organisationseinheit(en)

Institut für Regelungstechnik

Typ

Artikel

Journal

Robotics and Automation Letters, IEEE

Band

1

Seiten

161-168

Anzahl der Seiten

8

ISSN

2377-3766

Publikationsdatum

01.01.2016

Publikationsstatus

Veröffentlicht

Peer-reviewed

Ja

ASJC Scopus Sachgebiete

Maschinenbau, Steuerung und Optimierung, Artificial intelligence, Mensch-Maschine-Interaktion, Steuerungs- und Systemtechnik, Maschinelles Sehen und Mustererkennung, Biomedizintechnik, Angewandte Informatik

Elektronische Version(en)

https://doi.org/10.1109/LRA.2015.2511663 (Zugang: Unbekannt)