Energy Efficient Control of Robots with Variable Stiffness Actuators

L.C. Visser, Raffaella Carloni, Stefano Stramigioli

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    9 Citations (Scopus)

    Abstract

    Variable stiffness actuators realize a particular class of actuators characterized by the property that the apparent output stiffness can be changed independently of the output position. This is feasible due to the presence of internal springs and internal actuated degrees of freedom. In this work, we establish a port-based model of variable stiffness actuators and we derive an energy efficient control strategy. In particular, when the variable stiffness actuator acts on a mechanical system, the internal degrees of freedom are used to achieve the desired nominal behavior and the internal springs are used as a potential energy buffer. The release of energy from the springs, as well as the apparent output stiffness, are regulated by control of the internal degrees of freedom. Simulation results on a robotic joint illustrate the effectiveness of the control strategy during the tracking of a periodic motion in presence of disturbances.
    Original languageUndefined
    Title of host publicationProceedings of the 8th IFAC Symposium on Nonlinear Control Systems, NOLCOS 2010
    Place of PublicationLaxenburg, Austria
    PublisherIFAC
    Pages1199-1204
    Number of pages6
    ISBN (Print)978-3-902661-80-7
    DOIs
    Publication statusPublished - Sep 2010
    Event8th IFAC Symposium on Nonlinear Control Systems, NOLCOS 2010 - Bologna, Italy
    Duration: 1 Sep 20103 Sep 2010
    Conference number: 8

    Publication series

    Name
    PublisherIFAC

    Conference

    Conference8th IFAC Symposium on Nonlinear Control Systems, NOLCOS 2010
    Abbreviated titleNOLCOS
    CountryItaly
    CityBologna
    Period1/09/103/09/10

    Keywords

    • IR-75581
    • METIS-276137
    • Mathematical Models
    • EWI-18746
    • EC Grant Agreement nr.: FP7/231554
    • Nonlinear analysis
    • Energy efficient control
    • Robotics
    • Variable Stiffness Actuators

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