Method for improving the position precision of a hydraulic robot arm: dual virtual spring–damper controller

Kim, Jin Tak; Lee, Jong-won; Kim, Hyogon; Seo, Jaehong; Chon, Sanguk; Park, Byung-Yun; Park, Sangdeok; Cho, Jungsan

doi:10.1007/s11370-015-0182-1

Cited by 10 publications

(5 citation statements)

References 15 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…where F is the vector of the virtual force acting on the endpoint of the arm, u is the control input vector applied to the joint, P Tm is the In previous research, hydraulic manipulator experiments demonstrated that a manipulator driven by hydraulics as the rate source, which is a control input of the VSD hypothesis, could be applied (Kim et al, 2014). In addition, it was confirmed that the performance was exhibited by summation servo valves inputs generated in two VSD models Kim, Lee, et al, 2016). The virtual line connected to the manipulator set control points on the endpoint, wrist, thumb, and elbow.…”

Section: Dual-arm Manipulator Algorithmmentioning

confidence: 79%

Development of disaster‐responding special‐purpose machinery: Results of experiments

Kim

Park

Han

et al. 2022

Journal of Field Robotics

Self Cite

View full text Add to dashboard Cite

The frequent occurrence of disasters has prompted the development of efficient disaster-responding equipment. This study deals with the design of special-purpose machinery and its performance assessment. We defined scenarios through the environmental analysis of disaster situations and expert consulting. We also formulated a set of design specifications by analyzing the objectives of the tasks that must be performed at disaster sites, based on simulated scenarios and existing disaster response machinery. The disaster-responding special-purpose machinery was designed to perform various tasks and display rapid movement in disaster situations. Moreover, this paper presents the control structure configured to operate the developed machinery. The performance of the special-purpose machinery was assessed through different scenario tests.

show abstract

Section: Dual-arm Manipulator Algorithmmentioning

confidence: 79%

Development of disaster‐responding special‐purpose machinery: Results of experiments

Kim

Park

Han

et al. 2022

Journal of Field Robotics

Self Cite

View full text Add to dashboard Cite

show abstract

“…Therefore, among other things, nonlinear spring characteristics were needed to fully utilize the benefits of a compliant actuation. One method to realize this is the use of "virtual springs" through the control of the actuator's dynamic behavior [17,18]. Common to all "virtual spring" solutions is the missing recuperation of energy: the dissipation of energy is actively compensated by the work of the actuators.…”

Section: Nonlinear Spring Characteristic Through Mechanismsmentioning

confidence: 99%

Characterization of an Antagonistic Actuation System with Nonlinear Compliance for an Upper-Arm Exoskeleton

et al. 2023

View full text Add to dashboard Cite

The parallel connection of technical and biological systems with a comparable mechanical behavior offers the possibility of reducing the interaction forces between those systems. Especially in the context of human–robot interaction (e.g., exoskeletons), it can improve user safety and acceptance at the same time. With this aim, we used antagonistic actuators with nonlinear compliance for a modular upper-extremity exoskeleton following biological paragons, mirroring the “blueprint” of its human user. In a test-bed setup, we compared antagonistic compliant actuation with antagonistic stiff, unilateral stiff and unilateral compliant actuation in the artificial “elbow joint” of the exoskeleton test bed. We show that this type of actuation allows the variation of the joint stiffness during motion, independent of the position. With the approach we propose, compliance leads to reduced force peaks and angular jerk, without sacrifices in terms of time constants and overshoot of amplitudes. We conclude that the presented actuation principle has considerable benefits in comparison to other types of exoskeleton actuation, even when using only commercially available and 3D printed components. Based on our work, further investigations into the control of compliant antagonistically actuated exoskeletons become realizable.

show abstract

“…For example, pneumatic artificial muscle actuator usually consists of an elastomeric body driven by a compressed air source. By using compressed air, the body deforms to produce actuation . While they can rapidly actuate with sufficient strain, they require additional apparatus such as pumps, valves, and the others, which results in a heavy and bulky system.…”

Section: Performance Comparison Of Tcamentioning

confidence: 99%

Double Helix Twisted and Coiled Soft Actuator from Spandex and Nylon

et al. 2018

View full text Add to dashboard Cite

This paper introduces a fabrication method and properties of newly developed Twisted and Coiled soft Actuator (TCA) from nylon and spandex. The TCA, a thermally driven actuator, is one of the promising soft actuators that shows considerable strain compared to the others. Typically, TCA is fabricated from single polymer fiber such as the spandex and nylon. However, TCA from each material shows some limits. The spandex TCA (STCA) shows siginificant strain more than 45%. However, since the spandex is non‐conductive material, the STCA requires additional heat source such as heat gun. On the other hand, since the nylon TCA (NTCA) is fabricated from silver‐coated nylon, it is capable of Joule heating. However, the strain is considerably smaller than that of the STCA. Newly developed TCA, Double helix TCA (DTCA), is composed of both of them. As a result, the DTCA inherits the properties of the STCA and the NTCA. It is capable of Joule heating showing high strain over 40%. Since, DTCA is very soft, light, and cheap, it has various applications in the field of robots including artificial limbs.

show abstract

Method for improving the position precision of a hydraulic robot arm: dual virtual spring–damper controller

Cited by 10 publications

References 15 publications

Development of disaster‐responding special‐purpose machinery: Results of experiments

Development of disaster‐responding special‐purpose machinery: Results of experiments

Characterization of an Antagonistic Actuation System with Nonlinear Compliance for an Upper-Arm Exoskeleton

Double Helix Twisted and Coiled Soft Actuator from Spandex and Nylon

Contact Info

Product

Resources

About