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Nonlinear Oscillations for Cyclic Movements in Variable Impedance Actuated Robotic Arms

Lakatos, Dominic and Petit, Florian and Albu-Schäffer, Alin (2013) Nonlinear Oscillations for Cyclic Movements in Variable Impedance Actuated Robotic Arms. In: IEEE International Conference on Robotics and Automation (ICRA), pp. 508-515. International Conference on Robotics and Automation, 06.-10. Mai 2013, Karlsruhe, Deutschland. doi: 10.1109/icra.2013.6630622.



Biologically inspired Variable Impedance Actuators (VIA) offer the capability to execute cyclic and/or explosive multi degree of freedom (DoF) motions efficiently by storing elastic energy. This paper studies the preconditions which allow to induce robust cyclic motions for strongly nonlinear, underactuated multi DoF robotic arms. By experimental observations of human motor control, a simple control law is deduced. This controller achieves intrinsic oscillatory motions by switching the motor position triggered by a joint torque threshold. Using the derived controller, the periodic behavior of the robotic arm is analyzed in simulations. It is found that a modal analysis of the linearized system at the equilibrium point allows to qualitatively predict the periodic behavior of this type of strongly nonlinear systems. The central statement of this paper is that cyclic motions can be induced easily in VIA systems, if the eigenfrequencies and modal damping values of the linearized system are well separated. Validation is given by simulation and experiments, where a human controls a simulated robotic arm, and the developed regulator controls a robotic arm in simulation and experiments.

Item URL in elib:https://elib.dlr.de/85544/
Document Type:Conference or Workshop Item (Speech)
Title:Nonlinear Oscillations for Cyclic Movements in Variable Impedance Actuated Robotic Arms
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Date:May 2013
Journal or Publication Title:IEEE International Conference on Robotics and Automation (ICRA)
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:Yes
Page Range:pp. 508-515
Series Name:Proceedings of IEEE International Conference on Robotics and Automation
Keywords:nonlinear oscillations, cyclic motions, mechanical oscillation modes, variable stiffness actuation, nonlinear control systems
Event Title:International Conference on Robotics and Automation
Event Location:Karlsruhe, Deutschland
Event Type:international Conference
Event Dates:06.-10. Mai 2013
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - Terrestrial Assistance Robotics (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Mechatronic Components and Systems
Deposited By: Lakatos, Dominic
Deposited On:17 Dec 2013 13:50
Last Modified:24 Jul 2023 10:24

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