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Analysis of Actuator Control Strategies for Excitation of Intrinsic Modes in Compliant Robots with Series Elastic Actuators

Pasic, Filip (2023) Analysis of Actuator Control Strategies for Excitation of Intrinsic Modes in Compliant Robots with Series Elastic Actuators. Masterarbeit, Munich University of Applied Sciences.

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Kurzfassung

In biology, body dynamics and elasticity in periodic motions most likely con- tribute to efficiency, i.e., in mammalian locomotion. Likewise, elastic elements can be added to robotic systems in an attempt to mimic this biological concept. Compliant robots are less likely to get damaged after severe impacts and their mechanical energy storage via springs could be exploited for fast and explosive movements. In this thesis, we explore the question whether resonance excitation that solely considers link-side dynamics or also takes into account the motor inertia, can lead to an increase in performance in Series Elastic Actuator (SEA) driven robotic systems. We propose three different control approaches and compare them to compliant state-of-the-art control as baseline evaluation in simulation and hardware experiments. Moreover, we extend the investigation of motor-side-excitation with the aid of methods such as inertia shaping and simulative system variation. Experiment results regarding a pick-and-place task with fixed amplitude reveal that in the investigated test setup, it might not be beneficial to make dedicated use of the motor inertia. Instead, an approach that exclusively excites link-side dynamics appears, for this particular task and setup, to be advantageous. However, generally, also making use of the motor dynamics bears potential for specific investigations as it appears more flexible and the control behavior can be easily adapted. Thus, the presented thesis provides first fundamental insights about novel control strategies and lies the foundation for further systematic research with different actuation types and varying task goals.

elib-URL des Eintrags:https://elib.dlr.de/197484/
Dokumentart:Hochschulschrift (Masterarbeit)
Titel:Analysis of Actuator Control Strategies for Excitation of Intrinsic Modes in Compliant Robots with Series Elastic Actuators
Autoren:
AutorenInstitution oder E-Mail-AdresseAutoren-ORCID-iDORCID Put Code
Pasic, FilipNICHT SPEZIFIZIERTNICHT SPEZIFIZIERTNICHT SPEZIFIZIERT
Datum:2023
Erschienen in:Analysis of Actuator Control Strategies for Excitation of Intrinsic Modes in Compliant Robots with Series Elastic Actuators
Referierte Publikation:Nein
Open Access:Ja
Gold Open Access:Nein
In SCOPUS:Nein
In ISI Web of Science:Nein
Seitenanzahl:63
Status:veröffentlicht
Stichwörter:Compliant Robots; Resonance Excitation; Pick-and-Place; Compliant Control Theory; Linear Modes; Inertia Shaping
Institution:Munich University of Applied Sciences
Abteilung:Munich University of Applied Sciences
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)
Hinterlegt von: Schmidt, Annika
Hinterlegt am:24 Sep 2023 06:07
Letzte Änderung:24 Sep 2023 06:07

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