Embodying Desired Behavior in Variable Stiffness Actuators*
| Autor: | Antonio Bicchi, L. C. Visser, Stefano Stramigioli |
|---|---|
| Rok vydání: | 2011 |
| Předmět: |
Engineering
Degrees of freedom (mechanics) EC Grant Agreement nr.: FP7/231554 Modeling for control optimization Computer Science::Robotics Hardware_GENERAL Computer Science::Systems and Control Control theory medicine Direct stiffness method EWI-20482 business.industry Work (physics) Stiffness Control engineering Robotics IR-78018 Application of nonlinear analysis and design Computer Science::Other Periodic function Nonlinear system Artificial intelligence medicine.symptom business Actuator METIS-278785 Nonlinear Systems |
| Zdroj: | Proceedings of the 18th IFAC World Congress 2011, 9733-9738 STARTPAGE=9733;ENDPAGE=9738;TITLE=Proceedings of the 18th IFAC World Congress 2011 |
| ISSN: | 1474-6670 |
| DOI: | 10.3182/20110828-6-it-1002.02202 |
| Popis: | Variable stiffness actuators are a class of actuators with the capability of changing their apparent output stiffness independently from the actuator output position. This is achieved by introducing internally a number of compliant elements, and internal actuated degrees of freedom that determine how these compliant elements are perceived at the actuator output. The introduction of a mechanical compliance introduces intrinsic, passive oscillatory behavior to the system, but rather than trying to minimize this effect, the question arises if it can be exploited for the actuation of periodic motions. In this work, we propose a strategy to control the variable stiffness actuator optimally, with respect to a cost criterion, to a desired periodic motion of the output. In particular, the cost criterion provides a measure of embodiment of the desired behavior in the passive behavior of the variable stiffness actuator, i.e., the variable stiffness actuator is controlled such that its passive behavior is as close as possible to the desired behavior and thus that the control effort is minimized. |
| Databáze: | OpenAIRE |
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