Paper Info
Title
Feedback Linearization And Simultaneous Stiffness-Position Control Of Robots With Antagonistic Actuated Joints
Abstract
In this paper, the dynamic model of a robot with antagonistic actuated joints is presented, and the problem of full linearization via static state feedback is analyzed. The use of transmission elements with nonlinear relation between the displacement and the actuated force allows to control both the position and the stiffness of each joint. The main advantage of this actuation modality is that the achieved stiffness becomes a mechanical characteristic of the system and it is not the result of an immediate control action as in the classical impedance control scheme [1]. Different examples of implementation of this kind of devices are known in literature, even if limited to one single joint [2], [3], [4], [5], and the application of antagonistic actuated kinematic chains in the field of robotic hand design is under investigation [6].After a brief review of the dependence or the properties of antagonistic actuation on the transmission elements characteristics, a scheme for simultaneous stiffness-position control of the linearized system is presented. Finally, simulation results of a two-link antagonistic actuated arm are reported and discussed.
Year
DOI
Venue
2007
10.1109/ROBOT.2007.364152
PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10
Keywords
Field
DocType
antagonistic actuation, variable stiffness mechanisms, feedback linearization, nonlinear systems
Robot control,Kinematics,Stiffness,Control theory,Feedback linearization,Control engineering,Impedance control,Engineering,Control system,Linearization,Actuator
Conference
Volume
Issue
ISSN
2007
1
1050-4729
Citations 
PageRank 
References 
11
0.85
10
Authors
5
Name
Order
Citations
PageRank
Gianluca Palli126829.98
Claudio Melchiorri277988.97
Thomas Wimbock356839.22
Markus Grebenstein433237.94
gerd hirzinger55185617.40