Lens, Thomas ; Kunz, Jürgen ; Stryk, Oskar von ; Stryk, Oskar von (2010)
Dynamic Modeling of the 4 DoF BioRob Series Elastic Robot Arm for Simulation and Control.
doi: 10.1007/978-3-642-17319-6_38
Konferenzveröffentlichung, Bibliographie
Kurzbeschreibung (Abstract)
This paper presents the modeling of the light-weight BioRob robot arm with series elastic actuation for simulation and controller design. We describe the kinematic coupling introduced by the cable actuation and the robot arm dynamics including the elastic actuator and motor and gear model. We show how the inverse dynamics model derived from these equations can be used as a basis for a position tracking controller that is able to sufficiently damp the oscillations caused by the high, nonlinear joint elasticity. We presents results from simulation and brieföy describe the implementation for a real world application.
| Typ des Eintrags: | Konferenzveröffentlichung |
|---|---|
| Erschienen: | 2010 |
| Autor(en): | Lens, Thomas ; Kunz, Jürgen ; Stryk, Oskar von ; Stryk, Oskar von |
| Art des Eintrags: | Bibliographie |
| Titel: | Dynamic Modeling of the 4 DoF BioRob Series Elastic Robot Arm for Simulation and Control |
| Sprache: | Englisch |
| Publikationsjahr: | 2010 |
| Verlag: | Springer |
| Buchtitel: | Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR 2010) |
| Reihe: | Lecture Notes in Artificial Intelligence |
| Band einer Reihe: | 6472 |
| DOI: | 10.1007/978-3-642-17319-6_38 |
| Zugehörige Links: | |
| Kurzbeschreibung (Abstract): | This paper presents the modeling of the light-weight BioRob robot arm with series elastic actuation for simulation and controller design. We describe the kinematic coupling introduced by the cable actuation and the robot arm dynamics including the elastic actuator and motor and gear model. We show how the inverse dynamics model derived from these equations can be used as a basis for a position tracking controller that is able to sufficiently damp the oscillations caused by the high, nonlinear joint elasticity. We presents results from simulation and brieföy describe the implementation for a real world application. |
| Fachbereich(e)/-gebiet(e): | 20 Fachbereich Informatik 20 Fachbereich Informatik > Simulation, Systemoptimierung und Robotik |
| Hinterlegungsdatum: | 20 Jun 2016 23:26 |
| Letzte Änderung: | 15 Mär 2019 09:58 |
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