Dynamic Control of the Bionic Handling Assistant
| Autor: | Rüdiger Neumann, Oliver Sawodny, Valentin Falkenhahn, Alexander Hildebrandt |
|---|---|
| Rok vydání: | 2017 |
| Předmět: |
0209 industrial biotechnology
Engineering business.industry MIMO Feed forward Control engineering 02 engineering and technology Kinematics 021001 nanoscience & nanotechnology Computer Science Applications Computer Science::Robotics 020901 industrial engineering & automation Computer Science::Systems and Control Control and Systems Engineering Control theory Robot Point (geometry) Feedback linearization Electrical and Electronic Engineering 0210 nano-technology Actuator business |
| Zdroj: | IEEE/ASME Transactions on Mechatronics. 22:6-17 |
| ISSN: | 1941-014X 1083-4435 |
| DOI: | 10.1109/tmech.2016.2605820 |
| Popis: | In the previous decade, multiple approaches for kinematic controllers of continuum manipulators were successfully developed. However, for fast and exact motions of continuum robots that are hardly seen so far, dynamic controllers are necessary—especially for spatial manipulators with multiple sections. Therefore, a dynamic controller in actuator space is developed that both exploits input constraints and decouples the actuators in order to provide a good and intuitive dynamic behavior of the manipulator. Having a pneumatically actuated manipulator with multiple actuators, this can be achieved using a cascaded control approach with a centralized actuator length controller and an underlying decoupled pneumatic controller. For both the outer multiple-input multiple-output (MIMO) controller and the inner single-input single-output (SISO) controllers, model-based controllers are developed based on suitable models using feedback linearization and a combination of feedforward control and linear PD-controllers. The resulting actuator controller can be used for tracking optimized trajectories in actuator space and also for possible extensions towards direct tool center point feedback. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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