Meng, Xuming und Keppler, Manuel und Ott, Christian (2021) Elastic Structure Preserving Impedance Control of Bidirectional Antagonistic Variable Stiffness Actuation. In: 2021 European Control Conference, ECC 2021, Seiten 263-269. 2021 European Control Conference (ECC 2021), 2021-06-29 - 2021-07-02, Rotterdam, The Netherlands. doi: 10.23919/ECC54610.2021.9655122. ISBN 978-946384236-5.
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Kurzfassung
We propose an impedance controller for articulated soft robots implemented by bidirectional antagonistic variable stiffness (BAVS) actuation, where two motors are connected via nonlinear elastic elements to a single link allowing for a joint stiffness modulation. Naturally, the highly elastic elements introduce undesired oscillatory dynamics into the plant. To address this problem, we present a controller that allows to impose a desired link-side stiffness and damping behavior while preserving the intrinsic inertial elastic properties of the system. This allows us to solve the global asymptotic regulation problem while simultaneously imposing a desired joint stiffness preset on the BAVS actuator. We provide a passivity and stability analysis based on a physically motivated storage and Lyapunov function. Experimental results on the underarm BAVS joint of DLR David validate our control law.
elib-URL des Eintrags: | https://elib.dlr.de/143334/ | ||||||||||||||||
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Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||||||
Titel: | Elastic Structure Preserving Impedance Control of Bidirectional Antagonistic Variable Stiffness Actuation | ||||||||||||||||
Autoren: |
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Datum: | Juli 2021 | ||||||||||||||||
Erschienen in: | 2021 European Control Conference, ECC 2021 | ||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||
Open Access: | Ja | ||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||
In ISI Web of Science: | Nein | ||||||||||||||||
DOI: | 10.23919/ECC54610.2021.9655122 | ||||||||||||||||
Seitenbereich: | Seiten 263-269 | ||||||||||||||||
ISBN: | 978-946384236-5 | ||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||
Stichwörter: | Soft robots, Impedance Control, Variable Stiffness Actuators | ||||||||||||||||
Veranstaltungstitel: | 2021 European Control Conference (ECC 2021) | ||||||||||||||||
Veranstaltungsort: | Rotterdam, The Netherlands | ||||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||||
Veranstaltungsbeginn: | 29 Juni 2021 | ||||||||||||||||
Veranstaltungsende: | 2 Juli 2021 | ||||||||||||||||
Veranstalter : | European Control Association (EUCA) | ||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||||||
HGF - Programmthema: | Robotik | ||||||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||
DLR - Forschungsgebiet: | R RO - Robotik | ||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - Roboterdynamik & Simulation [RO] | ||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) > Analyse und Regelung komplexer Robotersysteme | ||||||||||||||||
Hinterlegt von: | Meng, Xuming | ||||||||||||||||
Hinterlegt am: | 16 Aug 2021 08:47 | ||||||||||||||||
Letzte Änderung: | 24 Apr 2024 20:43 |
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