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Stabilizing controllers can assist the driver to safely maneuver of truck and trailer combinations like the EuroCombis. This paper presents a novel nonlinear controller for combinations of a nonholonomic tractor car with two semi-trailers based upon a instantaneous approximation of the vehicle kinematics, an exact input-state linearization technique and a model-reference control scheme. The main advantage...
Pneumatic artificial muscles feature lightweight and compact construction, in combination with high obtainable forces and an intrinsic compliance. This makes them well suited for the actuation of kinematically redundant manipulators, but due to the limited deflection of the single muscles and the highly nonlinear static and dynamic characteristics, a whole new set of challenges arises. In this contribution,...
A control structure is presented for manipulators actuated by joints with pairwise antagonistic pneumatic muscles. The used muscles and the resulting behavior of a single manipulator joint featuring antagonistic muscles in a symmetric configuration are characterized. Pneumatic joint actuation results in a hysteretic behavior, it is shown that in this case the hysteresis can be described by a Preisach...
In this paper a feedforward control structure is introduced for a manipulator joint driven by a symmetrical arrangement of two antagonistic muscles. The setup allows the specification of the desired joint angle, as well as the single muscle forces. Based upon the manipulator kinematic and the inverse static relation in a single muscle, the pressure signal for the muscles' supplying valves is calculated...
In this paper, the design for variable geometry truss manipulators, with 3-DOF octahedron-shaped modules and hydraulic actuation is introduced. The main features of the concept are the optimized multiple collocated spherical joints and a structure-integrated supply of the drive fluid for the hydraulic actuators. Based upon the known Spherical Joint Mechanism, design rules are deduced and modified...
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