A simple controller for a variable stiffness joint with uncertain dynamics and prescribed performance guarantees

Author

Psomopoulou, Efi ; Doulgeri, Zoe ; Rovithakis, George A. ; Tsagarakis, Nikos G.

Author_Institution

Dept. of Electr. & Comput. Eng., Aristotle Univ. of Thessaloniki, Thessaloniki, Greece

fYear

2012

fDate

7-12 Oct. 2012

Firstpage

5071

Lastpage

5076

Abstract

In this paper a simple tracking controller for a variable stiffness joint is proposed. System dynamics is considered unknown. The controller guarantees link and stiffness motor position performance specifications that have been apriori set, utilizing full state feedback. Simulation results on the previously published CompAct-VSA joint validate the efficiency of the proposed control approach.

Keywords

elastic constants; position control; robot dynamics; state feedback; uncertain systems; CompAct-VSA joint; link motor position performance specifications; robot joint compliance; simple tracking controller; state feedback; stiffness motor position performance specifications; system dynamics; uncertain dynamics; variable stiffness joint; Actuators; Convergence; Joints; Robots; Simulation; State feedback; Steady-state; Variable stiffness joint; prescribed performance control; uncertain system dynamics;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on

Conference_Location

Vilamoura

ISSN

2153-0858

Print_ISBN

978-1-4673-1737-5

Type

conf

DOI

10.1109/IROS.2012.6385859

Filename

6385859