{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2024,10,25]],"date-time":"2024-10-25T22:10:01Z","timestamp":1729894201670,"version":"3.28.0"},"reference-count":25,"publisher":"Walter de Gruyter GmbH","issue":"8","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2023,8,28]]},"abstract":"<jats:title>Zusammenfassung<\/jats:title><jats:p>Die physikalischen Eigenschaften pneumatischer Antriebe erm\u00f6glichen den Bau von sicheren, leichten und intuitiv bedienbaren Robotern, deren Regelung jedoch herausfordernd ist. Gr\u00fcnde daf\u00fcr sind die Dynamik der Pneumatik und nichtlineare Reibung mit Unsicherheiten, die ohne abtriebsseitige Momentensensorik unbekannt ist. In dieser Arbeit wird die nichtlineare modellbasierte Trajektorienfolgeregelung eines Roboters mit sechs pneumatischen Drehgelenken vorgestellt. Sie umfasst die Mechanik und Pneumatik sowie, im Gegensatz zum Stand der Technik, deren Verkopplung in einem zentralen Regler. Ausgehend vom dynamischen Modell des Gesamtsystems wird der Regler mittels Feedback-Linearisierung, einem Sonderfall der differentiellen Flachheit, hergeleitet. Die Regelung wird experimentell validiert und anhand der Messungen werden praktische Auswirkungen ihrer Struktur aufgezeigt.<\/jats:p>","DOI":"10.1515\/auto-2023-0052","type":"journal-article","created":{"date-parts":[[2023,8,8]],"date-time":"2023-08-08T15:44:47Z","timestamp":1691509487000},"page":"659-669","source":"Crossref","is-referenced-by-count":0,"title":["Flachheitsbasierte Trajektorienfolgeregelung eines pneumatischen Roboters"],"prefix":"10.1515","volume":"71","author":[{"given":"Kathrin","family":"Hoffmann","sequence":"first","affiliation":[{"name":"Institut f\u00fcr Systemdynamik, Universit\u00e4t Stuttgart , Waldburgstr. 17\/19, 70563 Stuttgart , Deutschland"}]},{"given":"Christian","family":"Trapp","sequence":"additional","affiliation":[{"name":"Robotics System Design, Festo SE\u202f& Co. KG , 73734 Esslingen , Deutschland"}]},{"given":"Alexander","family":"Hildebrandt","sequence":"additional","affiliation":[{"name":"Robotics System Design, Festo SE\u202f& Co. KG , 73734 Esslingen , Deutschland"}]},{"given":"Oliver","family":"Sawodny","sequence":"additional","affiliation":[{"name":"Institut f\u00fcr Systemdynamik, Universit\u00e4t Stuttgart , Waldburgstr. 17\/19, 70563 Stuttgart , Deutschland"}]}],"member":"374","published-online":{"date-parts":[[2023,8,8]]},"reference":[{"key":"2024011813340275052_j_auto-2023-0052_ref_001","doi-asserted-by":"crossref","unstructured":"V. Scheinman, J. M. McCarthy, and J.-B. Song, \u201cMechanism and actuation,\u201d in Springer Handbook of Robotics, B. Siciliano and O. Khatib, Eds., Springer International Publishing, 2016, pp.\u00a067\u201390.","DOI":"10.1007\/978-3-319-32552-1_4"},{"key":"2024011813340275052_j_auto-2023-0052_ref_002","doi-asserted-by":"crossref","unstructured":"A. Ho\u0161ovsk\u00fd, J. Pitel\u2019, K. \u017didek, M. T\u00f3thov\u00e1, J. S\u00e1rosi, and L. Cveticanin, \u201cDynamic characterization and simulation of two-link soft robot arm with pneumatic muscles,\u201d Mech. Mach. 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