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Authors: Michael Kastner 1 ; Hubert Gattringer 1 and Ronald Naderer 2

Affiliations: 1 Johannes Kepler University Linz, Austria ; 2 FerRobotics Compliant Robot Technology GmbH, Austria

Keyword(s): Compliant Robotics, Pneumatic Muscles, Hysteresis Model.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Mechatronics Systems ; Robot Design, Development and Control ; Robotics and Automation

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.

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Paper citation in several formats:
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; ISSN 2184-2809, SciTePress, pages 230-235. DOI: 10.5220/0004024102300235

@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},
issn={2184-2809},
}

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
IS - 2184-2809
AU - Kastner, M.
AU - Gattringer, H.
AU - Naderer, R.
PY - 2012
SP - 230
EP - 235
DO - 10.5220/0004024102300235
PB - SciTePress

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