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

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
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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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