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Optimal Control for maximizing Link Velocity of Robotic Variable Stiffness Joints

Haddadin, Sami and Weis, Michael and Albu-Schaeffer, Alin and Wolf, Sebastian (2011) Optimal Control for maximizing Link Velocity of Robotic Variable Stiffness Joints. In: Proceedings. IFAC 2011, World Congress, 28. Aug. - 02. Sep. 2011, Milano, Italy.

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Abstract

In this paper we evaluate the potential of Variable Stiffness Actuation to utilize its inherent joint elasticity and capability to adjust the intrinsic joint stiffness. These abilities make it possible to realize fundamentally different motion control schemes in comparison to intrinsically stiff robots. In this paper we treat the problem of how to generate optimally fast link side velocity at a certain time instant by fully exploiting the elastic energy transfer effects between motor, joint elasticity, stiffness adjustment mechanism, and link. Based on optimal control theory we show that it is possible to significantly and optimally exceed the motor maximum velocity by appropriate motor commands. We solve the problem for models of increasing complexity in order to consecutively elaborate the core insights into the chosen problem. Finally, we present experimental results with a VIA joint prototype, confirming the correctness of the developed formalism.

Document Type:Conference or Workshop Item (Speech, Paper)
Title:Optimal Control for maximizing Link Velocity of Robotic Variable Stiffness Joints
Authors:
AuthorsInstitution or Email of Authors
Haddadin, SamiSami.Haddadin@dlr.de
Weis, MichaelUNSPECIFIED
Albu-Schaeffer, AlinAlin.Albu-Schaeffer@dlr.de
Wolf, SebastianSebastian.Wolf@DLR.de
Date:August 2011
Journal or Publication Title:Proceedings
Status:Published
Keywords:Optimalsteuerung, elastische Roboter, Variable Impedance Actuation, Roboterwerfen
Event Title:IFAC 2011, World Congress
Event Location:Milano, Italy
Event Type:international Conference
Event Dates:28. Aug. - 02. Sep. 2011
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 - RMC - Mechatronik und Telerobotik (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Robotic Systems
Deposited By: Gabriele Beinhofer
Deposited On:20 Jan 2012 12:52
Last Modified:12 Dec 2013 21:34

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