A Novel Framework for a Systematic Integration of Pneumatic-Muscle-Actuator-Driven Joints into Robotic Systems Via a Torque Control Interface

dc.contributor.authorMartens, Mirco
dc.contributor.authorSeel, Thomas
dc.contributor.authorZawatzki, Johannes
dc.contributor.authorBoblan, Ivo
dc.date.accessioned2019-08-30T15:01:26Z
dc.date.available2019-08-30T15:01:26Z
dc.date.issued2018-11-28
dc.date.updated2019-08-01T07:58:15Z
dc.description.abstractIn this paper, two different torque control approaches for PMA-driven (PMA = Pneumatic muscle actuator) revolute joints are presented and tested. In previous work controllers for PMA-driven robots are typically customized for the use on a specific robotic system. In contrast, the proposed controllers define a general control interface for every robot that is actuated by PMA-driven joints. It will be shown that controlling the torque of a PMA-driven joint enables the use of standard robotic motion control frameworks, because the torque represents the natural input of the robotic equation of motion. Therefore, both proposed torque control approaches are interconnecting PMAs and their challenging characteristics on the one hand and “conventional” motion control strategies for robots on the other hand. After a detailed discussion of two different torque control approaches, we show that a torque controller handles all characteristics and dynamics of a PMA-driven joint internally, which implies that only its bandwidth and its static torque characteristic must be taken into account for the design of the outer motion control loop. This feature simplifies the integration of PMA-driven joints in robotic systems enormously, as will be demonstrated by a design of a cascade-structured, flatness-based motion controller for an exemplary robot with one degree of freedom.en
dc.description.sponsorshipBMWi, ZF4007503, Development of a PMA-driven Exoskeleton for the Upper Bodyen
dc.identifier.eissn2076-0825
dc.identifier.urihttps://depositonce.tu-berlin.de/handle/11303/9937
dc.identifier.urihttp://dx.doi.org/10.14279/depositonce-8947
dc.language.isoenen
dc.rights.urihttps://creativecommons.org/licenses/by/4.0/en
dc.subject.ddc600 Technik, Technologiede
dc.subject.otherpneumatic muscle actuatoren
dc.subject.otherpneumatic artificial muscleen
dc.subject.otherpneumatic-muscle-actuator-driven jointen
dc.subject.otherpneumatic systemen
dc.subject.otherpneumatic roboten
dc.subject.otherPMAen
dc.subject.otherPAMen
dc.titleA Novel Framework for a Systematic Integration of Pneumatic-Muscle-Actuator-Driven Joints into Robotic Systems Via a Torque Control Interfaceen
dc.typeArticleen
dc.type.versionpublishedVersionen
dcterms.bibliographicCitation.articlenumber82en
dcterms.bibliographicCitation.doi10.3390/act7040082en
dcterms.bibliographicCitation.issue4en
dcterms.bibliographicCitation.journaltitleActuatorsen
dcterms.bibliographicCitation.originalpublishernameMDPIen
dcterms.bibliographicCitation.originalpublisherplaceBaselen
dcterms.bibliographicCitation.volume7en
tub.accessrights.dnbfreeen
tub.affiliationFak. 4 Elektrotechnik und Informatik>Inst. Energie- und Automatisierungstechnik>FG Regelungssystemede
tub.affiliation.facultyFak. 4 Elektrotechnik und Informatikde
tub.affiliation.groupFG Regelungssystemede
tub.affiliation.instituteInst. Energie- und Automatisierungstechnikde
tub.publisher.universityorinstitutionTechnische Universität Berlinen
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