Control Of A Variable Stiffness Joint For Catching A Moving Object
2017 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)(2017)
摘要
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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关键词
virtual damping,rotational variable stiffness actuator vsaUT-II validation,critical damped system,kinetic energy absorption,variable stiffness joint control design,variable stiffness actuator,moving object catching
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