Details
| Original language | English |
|---|---|
| Title of host publication | 2012 17th International Conference on Methods and Models in Automation and Robotics, MMAR 2012 |
| Pages | 119-124 |
| Number of pages | 6 |
| Publication status | Published - 18 Dec 2012 |
| Externally published | Yes |
| Event | 2012 17th International Conference on Methods and Models in Automation and Robotics, MMAR 2012 - Miedzyzdroje, Poland Duration: 27 Aug 2012 → 30 Aug 2012 |
Publication series
| Name | 2012 17th International Conference on Methods and Models in Automation and Robotics, MMAR 2012 |
|---|
Abstract
Pneumatic artificial muscles feature lightweight and compact construction, in combination with high obtainable forces and an intrinsic compliance. This makes them well suited for the actuation of kinematically redundant manipulators, but due to the limited deflection of the single muscles and the highly nonlinear static and dynamic characteristics, a whole new set of challenges arises. In this contribution, redundancy resolution and control strategies are presented, which take the main actuator non-linearities into account to make effective use of the advantages provided by the pneumatic muscle actuators. The presented approach is demonstrated on a manipulator consisting of modular segments each actuated by a pair of antagonistic pneumatic muscle actuators. The approach proves to allow the avoidance of the pressure- and deflection-dependent joint limits to ensure a maximum of controllability of the manipulator at each point in the workspace.
ASJC Scopus subject areas
- Computer Science(all)
- Artificial Intelligence
- Computer Science(all)
- Human-Computer Interaction
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2012 17th International Conference on Methods and Models in Automation and Robotics, MMAR 2012. 2012. p. 119-124 6347932 (2012 17th International Conference on Methods and Models in Automation and Robotics, MMAR 2012).
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review
}
TY - GEN
T1 - Redundancy resolution and control of manipulators driven by antagonistic pneumatic muscles
AU - Calabria, Mauro
AU - Schreiber, Frank
AU - Sklyarenko, Yevgen
AU - Inkermann, David
AU - Raatz, Annika
AU - Vietor, Thomas
AU - Schumacher, Walter
PY - 2012/12/18
Y1 - 2012/12/18
N2 - Pneumatic artificial muscles feature lightweight and compact construction, in combination with high obtainable forces and an intrinsic compliance. This makes them well suited for the actuation of kinematically redundant manipulators, but due to the limited deflection of the single muscles and the highly nonlinear static and dynamic characteristics, a whole new set of challenges arises. In this contribution, redundancy resolution and control strategies are presented, which take the main actuator non-linearities into account to make effective use of the advantages provided by the pneumatic muscle actuators. The presented approach is demonstrated on a manipulator consisting of modular segments each actuated by a pair of antagonistic pneumatic muscle actuators. The approach proves to allow the avoidance of the pressure- and deflection-dependent joint limits to ensure a maximum of controllability of the manipulator at each point in the workspace.
AB - Pneumatic artificial muscles feature lightweight and compact construction, in combination with high obtainable forces and an intrinsic compliance. This makes them well suited for the actuation of kinematically redundant manipulators, but due to the limited deflection of the single muscles and the highly nonlinear static and dynamic characteristics, a whole new set of challenges arises. In this contribution, redundancy resolution and control strategies are presented, which take the main actuator non-linearities into account to make effective use of the advantages provided by the pneumatic muscle actuators. The presented approach is demonstrated on a manipulator consisting of modular segments each actuated by a pair of antagonistic pneumatic muscle actuators. The approach proves to allow the avoidance of the pressure- and deflection-dependent joint limits to ensure a maximum of controllability of the manipulator at each point in the workspace.
UR - http://www.scopus.com/inward/record.url?scp=84870989986&partnerID=8YFLogxK
U2 - 10.1109/MMAR.2012.6347932
DO - 10.1109/MMAR.2012.6347932
M3 - Conference contribution
AN - SCOPUS:84870989986
SN - 9781467321211
T3 - 2012 17th International Conference on Methods and Models in Automation and Robotics, MMAR 2012
SP - 119
EP - 124
BT - 2012 17th International Conference on Methods and Models in Automation and Robotics, MMAR 2012
T2 - 2012 17th International Conference on Methods and Models in Automation and Robotics, MMAR 2012
Y2 - 27 August 2012 through 30 August 2012
ER -