Table of Contents
Actuators, Volume 9, Issue 1 (March 2020) – 23 articles
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Cover Story (view full-size image) Robots that enable safe human–robot collaboration can be realized using compliant drive units. In [...] Read more. Robots that enable safe human–robot collaboration can be realized using compliant drive units. In this paper, we present an overall control approach that we used to operate one of these compliant pneumatic rotary drives. We explain the mechanical design and derive the differential equation that describes the dynamics of the system. To successfully operate a pneumatic drive unit, we adapt well-known torque mappings and develop new and optimized torque mappings to distribute the torque specified by the controller onto the three or more working chambers. Finally, we introduce and compare two control algorithms based on different implementations of state feedback in combination with different mappings to realize position control. View this paper