Energy Efficient Control of Robots with Variable Stiffness Actuators

Visser, Ludo C. and Carloni, Raffaella and Stramigioli, Stefano (2010) Energy Efficient Control of Robots with Variable Stiffness Actuators. In: 8th IFAC Symposium on Nonlinear Control Systems, NOLCOS 2010, September 1-3, 2010, Bologna, Italy.

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Abstract:	Variable stiffness actuators realize a particular class of actuators characterized by the property that the apparent output stiffness can be changed independently of the output position. This is feasible due to the presence of internal springs and internal actuated degrees of freedom. In this work, we establish a port-based model of variable stiffness actuators and we derive an energy efficient control strategy. In particular, when the variable stiffness actuator acts on a mechanical system, the internal degrees of freedom are used to achieve the desired nominal behavior and the internal springs are used as a potential energy buffer. The release of energy from the springs, as well as the apparent output stiffness, are regulated by control of the internal degrees of freedom. Simulation results on a robotic joint illustrate the effectiveness of the control strategy during the tracking of a periodic motion in presence of disturbances.
Item Type:	Conference or Workshop Item
Copyright:	© 2010 IFAC
Faculty:	Electrical Engineering, Mathematics and Computer Science (EEMCS)
Research Group:	Robotics and Mechatronics (CE)
Link to this item:	http://purl.utwente.nl/publications/75581
Conference URL:	http://www.nolcos2010.unibo.it/
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