Paper Info
Title
Visco-Elastic Structure Preserving Impedance (VESπ) Control for Compliantly Actuated Robots
Abstract
In this paper we consider the control of robots that feature visco-elastic actuators with adjustable physical damping. Considering the link variables of the robot as output, the corresponding system dynamics has a relative degree of 3. We present a novel control approach that allows to realize a torque interface on the link side, while preserving the intrinsic visco-elastic structure and the inertial properties of the system. By means of this joint torque interface one can implement link-side position tracking and impedance tasks. For this case, we provide a stability and passivity analysis. The control approach has been verified by experiments with a visco-elastic joint testbed.
Year
DOI
Venue
2018
10.23919/ECC.2018.8550200
2018 European Control Conference (ECC)
Keywords
Field
DocType
visco-elastic structure preserving impedance control,feature visco-elastic actuators,adjustable physical damping,link variables,relative degree,control approach,intrinsic visco-elastic structure,joint torque interface one,link-side position tracking,impedance tasks,visco-elastic joint testbed,compliantly actuated robots,stability analysis,passivity analysis
Inertial frame of reference,Passivity,Torque,Control theory,Computer science,Testbed,Electrical impedance,System dynamics,Robot,Actuator
Conference
ISBN
Citations 
PageRank 
978-1-5386-5303-6
0
0.34
References 
Authors
4
6
Name
Order
Citations
PageRank
Manuel Keppler133.55
Dominic Lakatos2478.03
Alexander Werner393.19
Florian Christoph Loeffl423.50
Christian Ott51527128.37
Alin Albu-Schaffer62831262.17