Evaluation of a Joint Hysteresis Model in a Robot Actuated by Pneumatic Muscles

Michael Kastner, Hubert Gattringer, Ronald Naderer

2012

Abstract

Passively compliant drives are interesting alternatives to classical stiff actuators in emerging fields like human–robot cooperation, service and rehabilitation robotics. Pneumatic muscles have been found to be interesting low–cost actuators for such purposes. To fully realize the (desired) higher sensitivity and at the same time maintain a good control quality, detailed models of the robot’s own components are required. For pneumatic muscles, their hysteresis characteristic is a challenging property. In this paper we present a hysteresis model based on a Prandtl–Ishlinskii operator approach and evaluate the resulting performance when the inverse model is used for compensation in the position controller. The evaluation is done on a real multi–axes robot arm.

Paper Citation

in Harvard Style

Kastner M., Gattringer H. and Naderer R. (2012). Evaluation of a Joint Hysteresis Model in a Robot Actuated by Pneumatic Muscles . In Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8565-22-8, pages 230-235. DOI: 10.5220/0004024102300235

in Bibtex Style

@conference{icinco12,
author={Michael Kastner and Hubert Gattringer and Ronald Naderer},
title={Evaluation of a Joint Hysteresis Model in a Robot Actuated by Pneumatic Muscles},
booktitle={Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2012},
pages={230-235},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004024102300235},
isbn={978-989-8565-22-8},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Evaluation of a Joint Hysteresis Model in a Robot Actuated by Pneumatic Muscles
SN - 978-989-8565-22-8
AU - Kastner M.
AU - Gattringer H.
AU - Naderer R.
PY - 2012
SP - 230
EP - 235
DO - 10.5220/0004024102300235