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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
Conference or Workshop Item, Bibliographie

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 ; Kunz, Jürgen ; Stryk, Oskar von ; Stryk, Oskar von
Type of entry: Bibliographie
Title: Dynamic Modeling of the 4 DoF BioRob Series Elastic Robot Arm for Simulation and Control
Language: English
Date: 2010
Publisher: Springer
Book Title: Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR 2010)
Series: Lecture Notes in Artificial Intelligence
Series Volume: 6472
DOI: 10.1007/978-3-642-17319-6_38
Corresponding Links:
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.

Divisions: 20 Department of Computer Science
20 Department of Computer Science > Simulation, Systems Optimization and Robotics Group
Date Deposited: 20 Jun 2016 23:26
Last Modified: 15 Mar 2019 09:58
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