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.
In: Lecture Notes in Artificial Intelligence, 6472, In: Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR 2010), pp. 411-422,
Springer, 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 ; Kunz, Jürgen ; Stryk, Oskar von ; 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. |
| Book Title: | Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR 2010) |
| Series: | Lecture Notes in Artificial Intelligence |
| Series 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 |
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| Corresponding Links: | |
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