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Optimal Control Strategies for Maximizing the Performance of Variable Stiffness Joints with Nonlinear Springs

Özparpucu, Mehmet Can and Alin, Albu-Schäffer (2014) Optimal Control Strategies for Maximizing the Performance of Variable Stiffness Joints with Nonlinear Springs. In: IEEE Conference on Decision and Control (ISSN: 0733-8716). 53rd IEEE Conference on Decision and Control (CDC 2014), Los Angeles, California, USA. ISSN 0733-8716

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Abstract

A very young robotics research topic is the use of elastic elements in joints to increase their performance. The idea of attaching the robot link to the motor via elastic elements is especially motivated by the possibility to store potential energy in the springs, which enables movement types that could not be implemented with rigid joints. After our recent results on the relation between the spring’s potential energy and the optimal control strategy for realising explosive motions using adjustable linear springs with a velocity-controlled motor, we extend in this paper these results to elastic joints with adjustable nonlinear springs. In particular, we build up on the method we first introduced for analysing Variable Stiffness Actuators with fixed motor positions and consider now additionally the control from the motor side. The application of the method is illustrated by investigating serial elastic joints as well as variable stiffness joints with nonlinear springs and it is shown how optimal control strategies for linear systems such as periodic bang-bang excitations with the system’s resonant frequency, change in this more general setting to energy-dependent excitations.

Item URL in elib:https://elib.dlr.de/94494/
Document Type:Conference or Workshop Item (Speech)
Title:Optimal Control Strategies for Maximizing the Performance of Variable Stiffness Joints with Nonlinear Springs
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Özparpucu, Mehmet CanMehmet.Oezparpucu (at) dlr.deUNSPECIFIED
Alin, Albu-SchäfferAlin.Albu-Schäffer (at) dlr.deUNSPECIFIED
Date:December 2014
Journal or Publication Title:IEEE Conference on Decision and Control (ISSN: 0733-8716)
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:Yes
ISSN:0733-8716
Status:Published
Keywords:optimal control, nonlinear springs, variable stiffness joints
Event Title:53rd IEEE Conference on Decision and Control (CDC 2014)
Event Location:Los Angeles, California, USA
Event Type:international Conference
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:12 Jan 2015 17:30
Last Modified:09 Feb 2017 19:21

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