A feedforward compensation approach for cable-driven musculoskeletal systems

doi:10.1017/S0263574722001643

CASIA OpenIR > 多模态人工智能系统全国重点实验室 > 机器人理论与应用

	A feedforward compensation approach for cable-driven musculoskeletal systems
	Fan, Yerui 1; Yuan, Jianbo 1; Wu, Yaxiong 1; Qiao, Hong2
发表期刊	ROBOTICA
ISSN	0263-5747
	2022-12-21
页码	10
通讯作者	Qiao, Hong(hong.qiao@ia.ac.cn)
摘要	This paper presents a feedforward compensation approach for musculoskeletal systems (MSs). Compared with traditional rigid robots, human arms have the advantages of flexibility and safety in operation in unstructured environments. However, the influence of external unknown disturbances, inner friction effects, and dynamic uncertainties of the MS makes it difficult to model and practically apply. In order to reduce the inner friction effects of the hardware platform and the over-relaxation/tension of the cable-pull drive, a feedforward friction compensation method for the cable-pulled artificial muscle unit is proposed. The method analyzes the friction causes of the hardware structure and establishes a mapping network relationship between the joint variables and the muscle force error in the muscle space. The experimental results show that the method can effectively improve the control accuracy and reduce the artificial muscle over-relaxation/tension instability.
关键词	biomimetic robots control of robotic systems force control humanoid robots serial manipulator design and kinematics
DOI	10.1017/S0263574722001643
收录类别	SCI
语种	英语
资助项目	National Key Research and Development Program of China ; National Natural Science Foundation of China (NSFC) ; Strategic Priority Research Program of Chinese Academy of Science ; [2017YFB1300203] ; [61627808] ; [91648205] ; [XDB32000000]
项目资助者	National Key Research and Development Program of China ; National Natural Science Foundation of China (NSFC) ; Strategic Priority Research Program of Chinese Academy of Science
WOS研究方向	Robotics
WOS类目	Robotics
WOS记录号	WOS:000899292600001
出版者	CAMBRIDGE UNIV PRESS
引用统计	被引频次：3[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/51166
专题	多模态人工智能系统全国重点实验室_机器人理论与应用
通讯作者	Qiao, Hong
作者单位	1.Univ Sci & Technol Beijing, Sch Mech Engn, Beijing 100083, Peoples R China 2.Chinese Acad Sci, Inst Automation, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
通讯作者单位	中国科学院自动化研究所
推荐引用方式 GB/T 7714	Fan, Yerui,Yuan, Jianbo,Wu, Yaxiong,et al. A feedforward compensation approach for cable-driven musculoskeletal systems[J]. ROBOTICA,2022:10.
APA	Fan, Yerui,Yuan, Jianbo,Wu, Yaxiong,&Qiao, Hong.(2022).A feedforward compensation approach for cable-driven musculoskeletal systems.ROBOTICA,10.
MLA	Fan, Yerui,et al."A feedforward compensation approach for cable-driven musculoskeletal systems".ROBOTICA (2022):10.