Authors

Johannes Schule, Alejandro Donaire, Oliver Sawodny

Abstract

In this paper we design a robust passivity-based controller for a continuum robot manipulator using the port-Hamiltonian framework. The control design is tailored to the Bionic Handling Assistant, a continuum mechanic robot developed by the Festo AG. As in many real-world applications, the control design for the BHA system requires to address non-linearities and robustness issues. In this work, we aim to provide a constructive robust control design for the BHA system, which can be readily adapted to similar continuum robotic manipulators. We develop a controller with an integral action to enhance the robustness of the control system and to compensate for disturbances.

Citation

  • Journal: 2020 IEEE/SICE International Symposium on System Integration (SII)
  • Year: 2020
  • Volume:
  • Issue:
  • Pages: 144–149
  • Publisher: IEEE
  • DOI: 10.1109/sii46433.2020.9026249

BibTeX

@inproceedings{Schule_2020,
  title={{Passivity-based control design for a continuum robotic manipulator with disturbances}},
  DOI={10.1109/sii46433.2020.9026249},
  booktitle={{2020 IEEE/SICE International Symposium on System Integration (SII)}},
  publisher={IEEE},
  author={Schule, Johannes and Donaire, Alejandro and Sawodny, Oliver},
  year={2020},
  pages={144--149}
}

Download the bib file

References

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