Stiffness-fault-tolerant control strategy for elastic actuators with interaction impedance adaptation

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics Pub Date : 2024-10-28 DOI:10.1016/j.mechatronics.2024.103265

Rodrigo J. Velasco-Guillen , Raphaël Furnémont , Tom Verstraten , Bram Vanderborght , Josep M. Font-Llagunes , Philipp Beckerle

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引用次数: 0

Abstract

Elastic actuators have the potential to enable safe interaction and energy efficient mobility, making them suitable for physical human–robot interaction. However, their increased complexity makes technical faults and their prevention a relevant research topic, particularly considering faults in elastic and kinematic elements. In this article we investigate a stiffness-fault-tolerant control strategy for elastic actuators, based on impedance control, which compensates for internal faults and adapts to a desired interaction impedance behavior. We analyze the control strategy regarding its stability, and adapt it to the dynamic characteristics of two systems: a mechanically adjustable compliance actuator (MACCEPA) and a series–parallel elastic actuator (+SPEA), highlighting the strategy’s general applicability to multiple actuator designs, considering nonlinear and redundant characteristics. Experimental validation with these systems shows that the control strategy is capable of accurately tracking reference output trajectories and adapting interaction characteristics, under fault and disturbance conditions, showcasing the versatile applicability of the strategy while achieving fault-tolerance.

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具有交互阻抗适应性的弹性致动器刚性容错控制策略

弹性致动器具有实现安全交互和节能移动的潜力，使其适用于人与机器人的物理交互。然而，由于其复杂性的增加，技术故障及其预防成为一个相关的研究课题，特别是考虑到弹性和运动元件的故障。在本文中，我们研究了一种基于阻抗控制的弹性致动器刚度容错控制策略，该策略可补偿内部故障并适应所需的交互阻抗行为。我们分析了该控制策略的稳定性，并使其适应两个系统的动态特性：机械可调顺应性致动器（MACCEPA）和串并联弹性致动器（+SPEA），突出了该策略对多种致动器设计的普遍适用性，同时考虑了非线性和冗余特性。对这些系统的实验验证表明，该控制策略能够在故障和干扰条件下准确跟踪参考输出轨迹并调整交互特性，从而在实现容错的同时展示了该策略的广泛适用性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Mechatronics 工程技术-工程：电子与电气

CiteScore

5.90

自引率

9.10%

发文量

审稿时长

109 days

期刊介绍： Mechatronics is the synergistic combination of precision mechanical engineering, electronic control and systems thinking in the design of products and manufacturing processes. It relates to the design of systems, devices and products aimed at achieving an optimal balance between basic mechanical structure and its overall control. The purpose of this journal is to provide rapid publication of topical papers featuring practical developments in mechatronics. It will cover a wide range of application areas including consumer product design, instrumentation, manufacturing methods, computer integration and process and device control, and will attract a readership from across the industrial and academic research spectrum. Particular importance will be attached to aspects of innovation in mechatronics design philosophy which illustrate the benefits obtainable by an a priori integration of functionality with embedded microprocessor control. A major item will be the design of machines, devices and systems possessing a degree of computer based intelligence. The journal seeks to publish research progress in this field with an emphasis on the applied rather than the theoretical. It will also serve the dual role of bringing greater recognition to this important area of engineering.