Haddadin, Sami and Weis, Michael and Albu-Schäffer, Alin and Wolf, Sebastian (2011) Optimal Control for maximizing Link Velocity of Robotic Variable Stiffness Joints. In: Proceedings. IFAC 2011, World Congress, 2011-08-28 - 2011-09-02, 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.
Item URL in elib: | https://elib.dlr.de/74109/ | ||||||||||||||||||||
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Document Type: | Conference or Workshop Item (Speech, Paper) | ||||||||||||||||||||
Title: | Optimal Control for maximizing Link Velocity of Robotic Variable Stiffness Joints | ||||||||||||||||||||
Authors: |
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Date: | August 2011 | ||||||||||||||||||||
Journal or Publication Title: | Proceedings | ||||||||||||||||||||
Open Access: | Yes | ||||||||||||||||||||
Gold Open Access: | No | ||||||||||||||||||||
In SCOPUS: | No | ||||||||||||||||||||
In ISI Web of Science: | No | ||||||||||||||||||||
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 Start Date: | 28 August 2011 | ||||||||||||||||||||
Event End Date: | 2 September 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 (until 2012) > Robotic Systems | ||||||||||||||||||||
Deposited By: | Beinhofer, Gabriele | ||||||||||||||||||||
Deposited On: | 20 Jan 2012 12:52 | ||||||||||||||||||||
Last Modified: | 24 Apr 2024 19:40 |
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