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Publikation

Model-Based Control and Design of a Low-Pressure Fluid Actuation System for Haptic Devices

Mathias Jordan; Luis Manuel Vaca Benitez; Steffen Schmidt; Michele Folgheraiter; Jan Albiez
In: Hubert Borgmann (Hrsg.). Proceedings der Actuator 2012. International Conference on New Actuators (ACTUATOR-12), June 18-20, Bremen, Germany, Pages 295-298, ISBN 978-3-933339-19-5, WFB die Wirtschaftsförderung Bremen, Bremen, 6/2012.

Zusammenfassung

Nowadays, fluid actuation is widely applied due to its beneficial characteristics such as high power/weight ratio, back-drivability and scalability. This paper presents the design and model-based control of a modular low-pressure fluid actuation system, consisting of a miniature servo valve, driven by a voice coil motor, and a customized rotational actuator. Both are intended to be used in a nine-degrees-of-freedom exoskeleton for tele-robotic applications. The proposed control strategy is a combination of a flatness-based feed-forward and classical PD controller, extended by a disturbance observer and shows a superior performance compared to classical control strategies.

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