Title :
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
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;
Conference_Titel :
Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on
Conference_Location :
Vilamoura
Print_ISBN :
978-1-4673-1737-5
DOI :
10.1109/IROS.2012.6385859
