A feedforward compensation approach for cable-driven musculoskeletal systems

doi:10.1017/S0263574722001643

CORC > 自动化研究所 > 中国科学院自动化研究所 > 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

	A feedforward compensation approach for cable-driven musculoskeletal systems
	Fan, Yerui 2; Yuan, Jianbo 2; Wu, Yaxiong 2; Qiao, Hong 1
刊名	ROBOTICA
	2022-12-21
页码	10
关键词	biomimetic robots control of robotic systems force control humanoid robots serial manipulator design and kinematics
ISSN号	0263-5747
DOI	10.1017/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
内容类型	期刊论文
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.