Visco-Elastic Structure Preserving Impedance (VESPi) Control for Compliantly Actuated Robots
| Autor: | Christian Ott, Alin Albu-Schaffer, Alexander Werner, Manuel Keppler, Florian Loeffl, Dominic Lakatos |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2018 |
| Předmět: |
0209 industrial biotechnology
Inertial frame of reference 030504 nursing Computer science Interface (computing) Tracking Passivity 02 engineering and technology System dynamics 03 medical and health sciences 020901 industrial engineering & automation Analyse und Regelung komplexer Robotersysteme Control theory Impedance Control Robot Torque 0305 other medical science Actuator Electrical impedance Compliant Robots Nonlinear Control |
| Zdroj: | ECC |
| Popis: | In this paper we consider the control of robots that feature visco-elastic actuators with adjustable physical damping. Considering the link variables of the robot as output, the corresponding system dynamics has a relative degree of 3. We present a novel control approach that allows to realize a torque interface on the link side, while preserving the intrinsic visco-elastic structure and the inertial properties of the system. By means of this joint torque interface one can implement link-side position tracking and impedance tasks. For this case, we provide a stability and passivity analysis. The control approach has been verified by experiments with a visco-elastic joint testbed. |
| Databáze: | OpenAIRE |
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