Output-Based Control of Robots with Variable Stiffness Actuation
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...
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| Format: | Article |
| Language: | English |
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Wiley
2011-01-01
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| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2011/735407 |
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| _version_ | 1832562206559961088 |
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| author | Gianluca Palli Claudio Melchiorri |
| author_facet | Gianluca Palli Claudio Melchiorri |
| author_sort | Gianluca Palli |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-95179befd54a40a5bcaddf719a2007e0 |
| institution | Kabale University |
| issn | 1687-9600 1687-9619 |
| language | English |
| publishDate | 2011-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Robotics |
| spelling | doaj-art-95179befd54a40a5bcaddf719a2007e02025-02-03T01:23:09ZengWileyJournal of Robotics1687-96001687-96192011-01-01201110.1155/2011/735407735407Output-Based Control of Robots with Variable Stiffness ActuationGianluca Palli0Claudio Melchiorri1Dipartimento di Elettronica, Informatica e Sistemistica, Università di Bologna, Viale Risorgimento 2, 40136 Bologna, ItalyDipartimento di Elettronica, Informatica e Sistemistica, Università di Bologna, Viale Risorgimento 2, 40136 Bologna, ItalyThe 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.http://dx.doi.org/10.1155/2011/735407 |
| spellingShingle | Gianluca Palli Claudio Melchiorri Output-Based Control of Robots with Variable Stiffness Actuation Journal of Robotics |
| title | Output-Based Control of Robots with Variable Stiffness Actuation |
| title_full | Output-Based Control of Robots with Variable Stiffness Actuation |
| title_fullStr | Output-Based Control of Robots with Variable Stiffness Actuation |
| title_full_unstemmed | Output-Based Control of Robots with Variable Stiffness Actuation |
| title_short | Output-Based Control of Robots with Variable Stiffness Actuation |
| title_sort | output based control of robots with variable stiffness actuation |
| url | http://dx.doi.org/10.1155/2011/735407 |
| work_keys_str_mv | AT gianlucapalli outputbasedcontrolofrobotswithvariablestiffnessactuation AT claudiomelchiorri outputbasedcontrolofrobotswithvariablestiffnessactuation |