Modeling robotic manipulators powered by variable stiffness actuators: a graph-theoretic and port-hamiltonian formalism

Stefan Groothuis, Stefano Stramigioli, Raffaella Carloni

    Research output: Contribution to journalArticleAcademicpeer-review

    6 Citations (Scopus)

    Abstract

    This paper proposes a modeling method for generic compliant robotic manipulators. It is based on graph theory and the port-Hamiltonian formalism, which allows a modular approach to the interconnection of rigid bodies with compliant actuators by means of kinematic pairs. This modularity enables a simple and straight-forward adaption the model when a manipulator’s actuator morphology is changed. An example of a spatial three degree-of-freedom manipulator shows that this modeling method is more suitable for modeling changes in actuator placement than the traditional Euler–Lagrange method.
    Original languageEnglish
    Number of pages12
    JournalIEEE transactions on robotics
    Volume33
    Issue number4
    DOIs
    Publication statusPublished - 9 Mar 2017

    Keywords

    • IR-104515
    • EC Grant Agreement nr.: FP7/600958
    • EWI-27880

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