中国科学院机构知识库网格
Chinese Academy of Sciences Institutional Repositories Grid
首页 机构 成果 学者
  
  1. CAS IR Grid
  2. 自动化研究所
  3. 中国科学院自动化研究所
  4. 多模态人工智能系统全国重点实验室
  5. 机器人应用与理论组
A feedforward compensation approach for cable-driven musculoskeletal systems

文献类型：期刊论文

作者Fan, Yerui2; Yuan, Jianbo2; Wu, Yaxiong2; Qiao, Hong1
刊名ROBOTICA
出版日期2022-12-21
页码10
ISSN号0263-5747
关键词biomimetic robots control of robotic systems force control humanoid robots serial manipulator design and kinematics
DOI10.1017/S0263574722001643
通讯作者Qiao, Hong(hong.qiao@ia.ac.cn)
英文摘要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.
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]
WOS研究方向Robotics
语种英语
出版者CAMBRIDGE UNIV PRESS
WOS记录号WOS:000899292600001
资助机构National Key Research and Development Program of China ; National Natural Science Foundation of China (NSFC) ; Strategic Priority Research Program of Chinese Academy of Science
源URL[http://ir.ia.ac.cn/handle/173211/51165]  
专题自动化研究所_复杂系统管理与控制国家重点实验室_机器人应用与理论组
通讯作者Qiao, Hong
作者单位1.Chinese Acad Sci, Inst Automation, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
2.Univ Sci & Technol Beijing, Sch Mech Engn, Beijing 100083, Peoples R China
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.

入库方式： OAI收割

来源：自动化研究所

浏览0
下载0
收藏0
其他版本

除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。