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Optimal Control of Variable Stiffness Actuators with Nonlinear Springs

Özparpucu, Mehmet Can and Haddadin, Sami and Alin, Albu-Schäffer (2014) Optimal Control of Variable Stiffness Actuators with Nonlinear Springs. In: 19th IFAC World Congress, pp. 8487-8495. IFAC 2014 (The 19th World Congress of the International Federation of Automatic Control), 24.-29. Aug. 2014, Cape Town, South Africa. DOI: 10.3182/20140824-6-ZA-1003.01193

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Official URL: http://www.ifac-papersonline.net/Detailed/67943.html


Variable Stiffness Actuators (VSA) are currently being regarded as promising actuator types in robotics research especially due to their capability to store potential energy in their elastic elements and to control this energy by altering the elastic properties of these elements. The controllable potential energy enables these actuators to outperform their rigid counterparts especially when realizing fast explosive motions. Most of joint designs with VSA�s, however, are described by nonlinear deflection-torque relations and consequently a thorough analysis regarding their maximum attainable performance is difficult. In this work, we tackle this problem by using Pontryagin�s Minimum Principle and develop a general method to solve the optimal control problem of minimizing any given terminal cost for these joints. In other words, we show the optimal control strategies to alter VSA�s elastic properties for various tasks such as maximization of the final link velocity or time-optimal tracking, which are all found to depend on the change of the system�s potential and kinetic energy relative to its total energy. The application of the method is illustrated for VSA�s with adjustable linear and cubic springs, where the potential energy stored in the springs is maximized at a given final time.

Item URL in elib:https://elib.dlr.de/93048/
Document Type:Conference or Workshop Item (Speech)
Title:Optimal Control of Variable Stiffness Actuators with Nonlinear Springs
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Özparpucu, Mehmet CanMehmet.Oezparpucu (at) dlr.deUNSPECIFIED
Alin, Albu-SchäfferAlin.Albu-Schäffer (at) dlr.deUNSPECIFIED
Journal or Publication Title:19th IFAC World Congress
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
DOI :10.3182/20140824-6-ZA-1003.01193
Page Range:pp. 8487-8495
Series Name:Proceedings of the 19th IFAC World Congress, 2014
Keywords:Robotics technology; Mechatronic systems; Robots manipulators; Optimal control
Event Title:IFAC 2014 (The 19th World Congress of the International Federation of Automatic Control)
Event Location:Cape Town, South Africa
Event Type:international Conference
Event Dates:24.-29. Aug. 2014
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 - Vorhaben Terrestrische Assistenz-Robotik
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Özparpucu, Mehmet Can
Deposited On:08 Dec 2014 14:59
Last Modified:08 Dec 2014 14:59

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