Modeling and Control of Adjustable Articulated Parallel Compliant Actuation Arrangements in Articulated Robots
| Autor: | Wesley Roozing |
|---|---|
| Rok vydání: | 2017 |
| Předmět: |
0209 industrial biotechnology
Computer science lcsh:Mechanical engineering and machinery Topology (electrical circuits) 02 engineering and technology compliant joints force/torque control Network topology lcsh:QA75.5-76.95 Computer Science::Robotics 020901 industrial engineering & automation Artificial Intelligence Control theory Methods Torque articulated robots lcsh:TJ1-1570 Robotics and AI business.industry Work (physics) Modular design 021001 nanoscience & nanotechnology Computer Science Applications Power (physics) energy efficient actuation Robot lcsh:Electronic computers. Computer science 0210 nano-technology Gradient descent business series-parallel elastic actuation |
| Zdroj: | Frontiers in Robotics and AI Frontiers in Robotics and AI, Vol 5 (2018) |
| ISSN: | 2296-9144 |
| Popis: | Considerable advances in robotic actuation technology have been made in recent years. Particularly the use of compliance has increased, both as series elastic elements as well as in parallel to the main actuation drives. This work focuses on the model formulation and control of compliant actuation structures including multiple branches and multi-articulation, and significantly contributes by proposing an elegant modular formulation that describes the energy exchange between the compliant elements and articulated multi-body robot dynamics using the concept of power flows, and a single matrix that describes the entire actuation topology. Using this formulation, a novel gradient descent based control law is derived for torque control of compliant actuation structures with adjustable pretension, with proven convexity for arbitrary actuation topologies. Extensions towards handling unidirectionality of elastic elements and joint motion compensation are also presented. A simulation study is performed on a 3-DoF leg model, where series-elastic main drives are augmented by parallel elastic tendons with adjustable pretension. Two actuation topologies are considered, one of which includes a biarticulated tendon. The data demonstrate the effectiveness of the proposed modelling and control methods. Furthermore, it is shown the biarticulated topology provides significant benefits over the monoarticulated arrangement. |
| Databáze: | OpenAIRE |
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