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Feedback linearization and simultaneous stiffness-position control of robots with antagonistic actuated joints.

Palli, G. and Melchiorri, C. and Wimböck, Thomas and Grebenstein, Markus and Hirzinger, Gerd (2007) Feedback linearization and simultaneous stiffness-position control of robots with antagonistic actuated joints. In: Proceedings of ICRA, pp. 4367-4372. IEEE. International Conference on Robotics and Automation, 2007-04-10 – 2007-04-14, Roma, Italy.

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Abstract

In this paper, the dynamic model of a robot with antagonistic actuated joints is presented, and the problem of full linearization via static state feedback is analyzed. The use of transmission elements with nonlinear relation between the displacement and the actuated force allows to control both the position and the stiffness of each joint. The main advantage of this actuation modality is that the achieved stiffness becomes same mechanical characteristic of the system and it is not the result of an immediate control action as in the classical impedance control scheme. Different examples of implementation of this kind of devices are known in literature, even if limited to one single joint and the application of antagonistic actuated kinematic chains in the field of robotic hand design is under investigation. After a brief review of the dependence of the properties of antagonistic actuation on the transmission elements characteristics, a scheme for simultaneous stiffness-position control of the linearized system is presented. Finally, simulation results of a two-link antagonistic actuated arm are reported and discussed.

Document Type:Conference or Workshop Item (Speech, Paper)
Title:Feedback linearization and simultaneous stiffness-position control of robots with antagonistic actuated joints.
Authors:
AuthorsInstitution or Email of Authors
Palli, G.DEIS, Dept. of Electronics, Computer Science and Systems University of Bologna, Italy
Melchiorri, C.DEIS, Dept. of Electronics, Computer Science and Systems University of Bologna, Italy
Wimböck, ThomasUNSPECIFIED
Grebenstein, MarkusUNSPECIFIED
Hirzinger, GerdUNSPECIFIED
Date:10 April 2007
Journal or Publication Title:Proceedings of ICRA
Refereed publication:Yes
In ISI Web of Science:No
Page Range:pp. 4367-4372
Publisher:IEEE
Status:Published
Keywords:Antagonistic actuation, variable stiffness mechanisms, feedback linearization, nonlinear systems
Event Title:International Conference on Robotics and Automation
Event Location:Roma, Italy
Event Type:international Conference
Event Dates:2007-04-10 – 2007-04-14
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme
DLR - Research area:Space
DLR - Program:W SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):W - Vorhaben DLR-Leichtbau-Roboter III (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Robotic Systems
Deposited By: Gabriele Beinhofer
Deposited On:17 Jan 2008
Last Modified:12 Dec 2013 20:29

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