Control of Actuators with Linearized Variable Stiffness
| Autor: | Ramil Khusainov, Sergei Savin, Alexandr Klimchik |
|---|---|
| Rok vydání: | 2019 |
| Předmět: |
0209 industrial biotechnology
Variable stiffness Deformation (mechanics) Computer science 020208 electrical & electronic engineering Stiffness Astrophysics::Cosmology and Extragalactic Astrophysics 02 engineering and technology Linear-quadratic regulator Optimal control Mechanical system 020901 industrial engineering & automation Control and Systems Engineering Control theory 0202 electrical engineering electronic engineering information engineering medicine medicine.symptom Actuator Control (linguistics) |
| Zdroj: | IFAC-PapersOnLine. 52:713-718 |
| ISSN: | 2405-8963 |
| DOI: | 10.1016/j.ifacol.2019.11.199 |
| Popis: | In this paper, a new model of variable stiffness actuators (VSA) is presented. In the proposed model, the stiffness and deformation of the elastic element can be controlled independently. The structure of the model allows the use of optimal control methods, such as linear quadratic regulator, as is demonstrated in the paper. The model can be used in studying mechanical systems with VSA and in control design for such systems. In order to connect controllers designed for the proposed model with actual VSA, a map of control actions is needed. Such map is provided for the case of Qbmove bidirectional antagonistic VSA. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
|