Modeling and Control of Compliant Robot Arms Actuated by Pneumatic Muscles

Michael Kastner

Modeling and Control of Compliant Robot Arms Actuated by Pneumatic Muscles

Michael Kastner

Institute of Robotics

Research output: Thesis › Doctoral thesis

Abstract

This work deals with the position control of passively compliant revolute joints actuated by antagonistic arrangements of pneumatic muscles in the context of multi-axes industrial robotic manipulators with serial kinematics. This work deals with the position control of passively compliant revolute joints actuated by antagonistic arrangements of pneumatic muscles in the context of multi-axes industrial robotic manipulators with serial kinematics.

Original language	English
Publication status	Published - Jul 2012

Fields of science

203022 Technical mechanics
203013 Mechanical engineering
202035 Robotics
203015 Mechatronics

JKU Focus areas

Mechatronics and Information Processing

Cite this

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title = "Modeling and Control of Compliant Robot Arms Actuated by Pneumatic Muscles",

abstract = "This work deals with the position control of passively compliant revolute joints actuated by antagonistic arrangements of pneumatic muscles in the context of multi-axes industrial robotic manipulators with serial kinematics. This work deals with the position control of passively compliant revolute joints actuated by antagonistic arrangements of pneumatic muscles in the context of multi-axes industrial robotic manipulators with serial kinematics.",

author = "Michael Kastner",

year = "2012",

month = jul,

language = "English",

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TY - BOOK

T1 - Modeling and Control of Compliant Robot Arms Actuated by Pneumatic Muscles

AU - Kastner, Michael

PY - 2012/7

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N2 - This work deals with the position control of passively compliant revolute joints actuated by antagonistic arrangements of pneumatic muscles in the context of multi-axes industrial robotic manipulators with serial kinematics. This work deals with the position control of passively compliant revolute joints actuated by antagonistic arrangements of pneumatic muscles in the context of multi-axes industrial robotic manipulators with serial kinematics.

AB - This work deals with the position control of passively compliant revolute joints actuated by antagonistic arrangements of pneumatic muscles in the context of multi-axes industrial robotic manipulators with serial kinematics. This work deals with the position control of passively compliant revolute joints actuated by antagonistic arrangements of pneumatic muscles in the context of multi-axes industrial robotic manipulators with serial kinematics.

M3 - Doctoral thesis

ER -