Title :
Limit cycles and stiffness control with variable stiffness actuators
Author :
Carloni, Raffaella ; Marconi, Lorenzo
Author_Institution :
Fac. of Electr. Eng., Math. & Comput. Sci., Univ. of Twente, Enschede, Netherlands
Abstract :
Variable stiffness actuators realize highly dynamic systems, whose inherent mechanical compliance can be properly exploited to obtain a robust and energy-efficient behavior. The paper presents a control strategy for variable stiffness actuators with the primarily goal of tracking a limit cycle trajectory and a desired stiffness, which is a function of the output position of the actuator. The proposed controller guarantees that the load, attached at the output of the actuation system, asymptotically tracks the desired cyclic motion and the desired stiffness even in presence of external disturbances. Experimental tests on the rotational variable stiffness actuator vsaUT-II validate the control strategy.
Keywords :
actuators; tracking; actuation system; dynamic system; energy-efficient behavior; external disturbance; inherent mechanical compliance; limit cycle trajectory tracking; rotational variable stiffness actuator vsaUT-II; stiffness control; Actuators; Equations; Limit-cycles; Prototypes; Robustness; Springs; Trajectory;
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.2012.6385914