用于捕捉移动物体的可变刚度关节的控制

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2017-09-24 DOI:10.1109/IROS.2017.8206350

A. Bhole, J. Kumle, S. S. Groothuis, R. Carloni

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引用次数: 1

摘要

本文提出了一种用变刚度作动器驱动关节捕捉运动物体的控制方法。该控制器设计使变刚度关节作为虚拟阻尼器，吸收运动物体的动能。变刚度作动器的虚拟阻尼和输出刚度为控制变量。为了得到一个临界阻尼系统，阻尼系数被安排在系统的输出刚度和惯量上。对旋转变刚度作动器vsaUT-II的实验验证了该控制方法的有效性。

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Control of a variable stiffness joint for catching a moving object

The paper presents a control method to catch a moving object with a joint actuated by means of a variable stiffness actuator. The controller is designed such that the variable stiffness joint acts as a virtual damper that absorbs the kinetic energy of the moving object. The virtual damping and the output stiffness of the variable stiffness actuator are the control variables. To obtain a critically damped system, the damping coefficient is scheduled on both the output stiffness and the inertia of the system. Experiments on the rotational variable stiffness actuator vsaUT-II validate the control method.

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来源期刊

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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