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Optimal Control for Maximizing Potential Energy in Variable Stiffness Joints

Haddadin, Sami and Özparpucu, Mehmet Can and Albu-Schäffer, Alin (2012) Optimal Control for Maximizing Potential Energy in Variable Stiffness Joints. 51st IEEE Conference on Decision and Control , 10-13 Dec 2012, Maui, Hawaii, USA.

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Robot arms with intrinsically elastic joints became very popular over the last years. Considerable effort has been put into designing complex systems that are equipped with variable joint elasticity between motor and link. However, in contrast to the field of passively elastic locomotion, the control of elastic manipulators, where the elasticity is not considered to be a parasitic effect, is still a very young field. Recently, the optimal exploitation of the inherent arm dynamics has been identified as an interesting new problem in robot motion control. In particular, the use of the joint elasticity as a temporary energy storage mechanism e.g. for executing ``explosive'' motions as throwing is a promising new aspect. In this paper, we investigate the basic problem of how to optimally store potential energy into a variable stiffness joint, which is strongly related to the maximization of its kinetic energy. We provide an analytic solution for the problem and give a physical interpretation of the optimal strategy in terms of the system's kinetic and potential energy

Item URL in elib:https://elib.dlr.de/80647/
Document Type:Conference or Workshop Item (Paper)
Title:Optimal Control for Maximizing Potential Energy in Variable Stiffness Joints
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Haddadin, SamiSami.Haddadin (at) DLR.deUNSPECIFIED
Özparpucu, Mehmet CanMehmet.Oezparpucu (at) dlr.deUNSPECIFIED
Albu-Schäffer, AlinAlin.Albu-Schaeffer (at) DLR.deUNSPECIFIED
Date:December 2012
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
Keywords:Robotics, Optimal control
Event Title:51st IEEE Conference on Decision and Control
Event Location:Maui, Hawaii, USA
Event Type:international Conference
Event Dates:10-13 Dec 2012
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - RMC - Mechatronik und Telerobotik (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (until 2012)
Deposited By: Parusel, Sven
Deposited On:15 Jan 2013 16:05
Last Modified:18 Apr 2013 13:09

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