elib
DLR-Header
DLR-Logo -> http://www.dlr.de
DLR Portal Home | Imprint | Privacy Policy | Contact | Deutsch
Fontsize: [-] Text [+]

Evaluation of Force Feedforward Control for Actuators with Limited Dynamics and Time Delay

Hulin, Thomas and Alessandro, Cristiano and Vodermayer, Bernhard and Riener, Robert (2015) Evaluation of Force Feedforward Control for Actuators with Limited Dynamics and Time Delay. STAMAS Workshop - Smart technology for artificial muscle applications in space, Madrid, Spain.

[img] PDF
416kB

Abstract

This paper investigates the effects of time delay and actuator dynamics on the stability and effectiveness of a force feedforward controller for an impedance controlled system, and the applicability of this control strategy to support astronauts during manipulation tasks against the resistance of the gloves of a space suit by means of a hand exoskeleton. To this end, two simulation studies were conducted. To obtain general results, stability was investigated first on the basis of a simple linear system. This first study revealed a highly detrimental effect of time delay on the critical gain factor of the force feedforward controller. Slower actuator dynamics, however, led for the most part to higher stable gain factors. The second simulation study analyzed the applicability of the control approach on an impedance controlled hand exoskeleton. It was shown that the feedforward controller clearly decreases the effort required by the human to move along predefined minimum-jerk trajectories.

Item URL in elib:https://elib.dlr.de/99529/
Document Type:Conference or Workshop Item (Speech)
Title:Evaluation of Force Feedforward Control for Actuators with Limited Dynamics and Time Delay
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Hulin, ThomasGerman Aerospace Center (DLR), GermanyUNSPECIFIED
Alessandro, CristianoSensory-Motor Systems Laboratory, ETH ZürichUNSPECIFIED
Vodermayer, BernhardDLR - German Aerospace Center, Institute of Robotics and Mechatronics (Germany)UNSPECIFIED
Riener, RobertSensory-Motor Systems Laboratory, ETH ZürichUNSPECIFIED
Date:29 October 2015
Refereed publication:No
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:force feedforward controller, time delay, actuator dynamics, simulation studies, space glove
Event Title:STAMAS Workshop - Smart technology for artificial muscle applications in space
Event Location:Madrid, Spain
Event Type:Workshop
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Terrestrische Assistenz-Robotik
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Hulin, Thomas
Deposited On:17 Nov 2015 14:29
Last Modified:31 Jul 2019 19:56

Repository Staff Only: item control page

Browse
Search
Help & Contact
Information
electronic library is running on EPrints 3.3.12
Copyright © 2008-2017 German Aerospace Center (DLR). All rights reserved.