Trajectory optimization of pneumatically actuated, redundant continuum manipulators

Falkenhahn, Valentin; Hildebrandt, A.; Sawodny, Oliver

doi:10.1109/acc.2014.6858736

Cited by 16 publications

(11 citation statements)

References 18 publications

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“…To compute the control input for a given trajectory [3], a cascaded control strategy was chosen (Fig. 2).…”

Section: The Bionic Handling Assistantmentioning

confidence: 99%

“…5a) with a spring and damper force working against a pneumatic cylinder with one pressurized chamber [3]. The resulting forces always apply orthogonally to base and head as the physical structure of a bellows does not create horizontal forces as long as no external forces apply.…”

Section: B Dynamic Modelmentioning

confidence: 99%

“…Offline trajectories can be optimized without having a closed form of the inverse kinematics [3], or the task space error is used to calculate new desired actuator states, e.g. with PID control for a hyperredundant manipulator [4] or with model-based control for an octopus arm [5].…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Model-based feedforward position control of constant curvature continuum robots using feedback linearization

Falkenhahn

Hildebrandt

Neumann

et al. 2015

2015 IEEE International Conference on Robotics and Automation (ICRA)

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Fast and exact motions of continuum robots are hardly seen so far. Partly this is caused by physical constraints, e.g. small available actuation forces. Another reason is the dynamic coupling between the actuators that cannot be neglected during fast motions. Therefore, a model-based MIMO controller in actuator space was developed, that is based on a spatial dynamic model with one mass point per section. Using feedback linearization, the actuators can be decoupled and feedforward control in combination with linear controllers can be applied. Measurements of an example manipulator show the good tracking result of pure feedforward action with feedback linearization. Adding a linear PD-controller increases the robustness against disturbances without reducing the possibility of fast motions.

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“…To compute the control input for a given trajectory [3], a cascaded control strategy was chosen (Fig. 2).…”

Section: The Bionic Handling Assistantmentioning

confidence: 99%

Section: B Dynamic Modelmentioning

confidence: 99%

See 1 more Smart Citation

Model-based feedforward position control of constant curvature continuum robots using feedback linearization

Falkenhahn

Hildebrandt

Neumann

et al. 2015

2015 IEEE International Conference on Robotics and Automation (ICRA)

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“…4a) with a spring and damper force working against a pneumatic cylinder with one pressurized chamber [17]. The actuation force generated by the cylinder…”

Section: B Dynamic Modelmentioning

confidence: 99%

Configuration space impedance control for continuum manipulators

Toscano

Falkenhahn

Hildebrandt

et al. 2015

2015 6th International Conference on Automation, Robotics and Applications (ICARA)

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Despite their intrinsic structural compliance, a safe interaction of continuum robots with their environment requires a control strategy that is able to manage the compliant motion properly. This paper presents a peculiar strategy of application of the impedance control based on kinematic and dynamic models of the manipulator's sections. The control approach is able to deal with unpredicted contacts which can occur in unknown locations along the whole manipulator while the resulting contact forces don't need to be measured or estimated. The control concept is applied to a single section of the Bionic Handling Assistant, but its application can be extended to all the continuum robots modeled with the piecewise constant curvature approach

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“…The present work addresses the development of a pneumatically driven manufacturing cell for low cost automation applications when compared with other high-cost automation technologies such as pneumatic servo position applications [1][2][3][4][5]; for example, Festo has an industrial pneumatic servo solution in the delivery range being very efficient but however expensive [6]. In our current society, the capacity of performing tasks with higher efficiency and precision is increasingly sought by automation [7].…”

Section: Introductionmentioning

confidence: 99%

Development of a Pneumatically Driven Cell for Low Cost Automation

Valdiero

Mantovani

Fiegenbaum

et al. 2016

Journal of Industrial Engineering

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The present work addresses the development of a pneumatically driven manufacturing cell for low cost automation applications. This cell can be used in innovative applications as a low cost alternative to increase production and quality in industry. The state of the art shows that technological advances in computing have made possible a drop in equipment prices, making them more accessible. The aim of this work is to develop automation through a classic methodology for a manufacturing cell to minimize errors and facilitate the sequential logic conception. This experimental prototype has been developed at the UNIJUI with financial support by public organizations and companies. Pneumatic actuator used in bench driven has the following advantages: its maintenance is easy and simple, is of relatively low cost, self-cooling properties, and good power density (power/dimension rate), and is fast acting with high acceleration and installation flexibility. However, there are difficulties of control logic due to the complex systems. The sequential controller strategy design considers the pneumatic system, experimental results, and performance of the proposed control strategy.

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Trajectory optimization of pneumatically actuated, redundant continuum manipulators

Cited by 16 publications

References 18 publications

Model-based feedforward position control of constant curvature continuum robots using feedback linearization

Model-based feedforward position control of constant curvature continuum robots using feedback linearization

Configuration space impedance control for continuum manipulators

Development of a Pneumatically Driven Cell for Low Cost Automation

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