TU Darmstadt / ULB / TUbiblio

Dynamic Modeling of the 4 DoF BioRob Series Elastic Robot Arm for Simulation and Control

Lens, Thomas and Kunz, Jürgen and Stryk, Oskar von and Stryk, Oskar von (2010):
Dynamic Modeling of the 4 DoF BioRob Series Elastic Robot Arm for Simulation and Control.
In: Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR 2010), Springer, In: Lecture Notes in Artificial Intelligence, 6472, DOI: 10.1007/978-3-642-17319-6_38,
[Conference or Workshop Item]

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.

Item Type: Conference or Workshop Item
Erschienen: 2010
Creators: Lens, Thomas and Kunz, Jürgen and Stryk, Oskar von and Stryk, Oskar von
Title: Dynamic Modeling of the 4 DoF BioRob Series Elastic Robot Arm for Simulation and Control
Language: English
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.

Title of Book: Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR 2010)
Series Name: Lecture Notes in Artificial Intelligence
Volume: 6472
Publisher: Springer
Divisions: 20 Department of Computer Science
20 Department of Computer Science > Simulation, Systems Optimization and Robotics Group
Date Deposited: 20 Jun 2016 23:26
DOI: 10.1007/978-3-642-17319-6_38
Identification Number: 2010:SIMPAR-Lens
Related URLs:
Export:
Suche nach Titel in: TUfind oder in Google

Optionen (nur für Redakteure)

View Item View Item