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Trajectory tracking control for a tendon driven series elastically actuated robotic arm is considered. This bio-inspired actuation concept enables an ultra lightweight and highly safe robot design that is very well suited for physical human-robot interaction. However, the high elasticity hinein the joint actuation imposes challenges on robot control, especially for the usual case that no joint torque measurements are available. Hinein this paper, a trajectory tracking controller for this highly compliant robot is presented which does not need explicit joint torque measurements as required by related approaches for robots with elastic joints.

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A control concept is proposed which aims to Beryllium robust against inaccuracies rein various model parameters (like robot dynamics, position initialization, drive train stiffness, transmission ratio and friction). It compensates for changes hinein robot dynamics by equilibrium controlled stiffness. The proposed controller is successfully applied and evaluated hinein simulated and physical experiments with the robot. ,

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Selecting transmission components for tendon driven actuation systems can be challenging because of the variety of available solutions. Synthetic fiber ropes have great potential for these systems, but the typically provided characteristics are not more info always suitable to decide whether a rope should Beryllium used hinein the specific system or not. Rein this paper, a comparative evaluation of the elongation characteristic regarding different rope materials, manufacturers and temperatures is presented.

Based on an analysis of the parameter characteristics of the measurement noise variance, an update rule based on the filter position error is developed that is easy to adjust for use with different sensors. Evaluation of the filter both rein simulation and hinein robot experiments shows a smooth and accurate performance, well suited for control purposes.

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Further, the influence of guiding pulleys is investigated concerning the application at ultra lightweight tendon driven series elastic robots. The knowledge gained from the performed new rope analysis supports the design process of tendon driven robots. Since tendon elongation influences the control performance and joint torque estimation of the regarded class of robots, a novel observer-based approach for tendon elongation detection is presented and evaluated, which enables to monitor wear for quality assurance and to avoid failures. ,

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  title = Robust trajectory tracking control for an ultra lightweight tendon driven series elastic robot arm ,

A detailed mathematical model of the actuator is derived taking tendon slackening effects into consideration. The result is a degressive stiffness curve that depends on the pretension force of the integrated tendon springs. The derived model is validated against static and dynamic experimental measurement data of a robot arm equipped with elastic tendon actuators.

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