Output-Based Control of Robots with Variable Stiffness Actuation
Joint Authors
Melchiorri, Claudio
Palli, Gianluca
Source
Issue
Vol. 2011, Issue 2011 (31 Dec. 2011), pp.1-15, 15 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2011-11-23
Country of Publication
Egypt
No. of Pages
15
Main Subjects
Abstract EN
The output-based control of a redundant robotic manipulator with relevant and adjustable joint stiffness is addressed.
The proposed controller is configured as a cascade system that allows the decoupling of the actuators dynamics from the arm dynamics and the consequent reduction of the order of the manipulator dynamic model.
Moreover, the proposed controller does not require the knowledge of the whole robot state: only the positions of the actuators and of the joints are necessary.
This approach represents a significant simplification with respect to previously proposed state feedback techniques.
The problem of controlling simultaneously the position trajectory and the desired stiffness in both the joint and work space is investigated, and the relations between the manipulator redundancy and the selection of both the joint and work space stiffness of the manipulator are discussed.
The effectiveness of the proposed approach is verified by simulations of a 3 degrees of freedom planar manipulator.
American Psychological Association (APA)
Palli, Gianluca& Melchiorri, Claudio. 2011. Output-Based Control of Robots with Variable Stiffness Actuation. Journal of Robotics،Vol. 2011, no. 2011, pp.1-15.
https://search.emarefa.net/detail/BIM-494495
Modern Language Association (MLA)
Palli, Gianluca& Melchiorri, Claudio. Output-Based Control of Robots with Variable Stiffness Actuation. Journal of Robotics No. 2011 (2011), pp.1-15.
https://search.emarefa.net/detail/BIM-494495
American Medical Association (AMA)
Palli, Gianluca& Melchiorri, Claudio. Output-Based Control of Robots with Variable Stiffness Actuation. Journal of Robotics. 2011. Vol. 2011, no. 2011, pp.1-15.
https://search.emarefa.net/detail/BIM-494495
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-494495