Session WedAT1 Pegaso A Wednesday, October 10, 2012 ... - Lirmm
Session WedAT1 Pegaso A Wednesday, October 10, 2012 ... - Lirmm
Session WedAT1 Pegaso A Wednesday, October 10, 2012 ... - Lirmm
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<strong>Session</strong> WedFT11 Hidra <strong>Wednesday</strong>, <strong>October</strong> <strong>10</strong>, <strong>2012</strong>, 16:15–17:30<br />
Robots with Variable Impedance Actuation<br />
Chair Raffaella Carloni, Univ. of Twente<br />
Co-Chair Alin Albu-Schäffer, DLR - German Aerospace Center<br />
16:15–16:30 WedFT11.1<br />
A Simple Controller for a Variable Stiffness Joint<br />
with Uncertain Dynamics and Prescribed<br />
Performance Guarantees<br />
Efi Psomopoulou, Zoe Doulgeri and George A. Rovithakis<br />
Dept of Electrical & Computer Eng., Aristotle University of Thessaloniki, Greece<br />
Nikos G. Tsagarakis<br />
Department of Advanced Robotics, Istituto Italiano di Tecnologia, Italy<br />
• The CompAct-VSA joint is considered.<br />
• Transient and steady state performance<br />
for link q and stiffness motor position<br />
θ k is a priori specified and guaranteed.<br />
• A full state feedback tracking controller<br />
is proposed without requesting any<br />
knowledge of system nonlinearities.<br />
• Simulation results in a trajectory<br />
following task (figure) satisfy preset<br />
performance with reasonable control<br />
effort (max voltage 24 V)<br />
• The stiffness motor desired trajectory<br />
corresponds to a stiffness variation<br />
between the values of 170-582 Nm/rad.<br />
16:45–17:00 WedFT11.3<br />
Limit Cycles and Stiffness Control with Variable<br />
Stiffness Actuators<br />
Raffaella Carloni<br />
Dept. Electrical Engineering, University of Twente, Italy<br />
Lorenzo Marconi<br />
Dept. Electronics, Computer Science and Systems, University of Bologna, Italy<br />
• The inherent compliance of variable<br />
stiffness actuators is exploited to<br />
obtain a robust and energy-efficient<br />
behavior<br />
• The proposed control strategy<br />
guarantees a robust tracking of a limit<br />
cycle trajectory and of a desired<br />
stiffness for the actuator’s load<br />
• Experimental tests on the vsaUT-II<br />
validate the control design<br />
17:15–17:30 WedFT11.5<br />
Rigid vs. Elastic Actuation: Requirements &<br />
Performance<br />
S. Haddadin, N. Mansfeld, A. Albu-Schäffer<br />
Robotics and Mechatronics Center<br />
This paper answers following questions<br />
1)How does geometric scaling (i.e.<br />
systematic mass variation) influence the<br />
performance of a rigid joint?<br />
2)What are the requirements for an elastic<br />
joint that consists of a smaller motor and<br />
an elastic transmission in order to reach at<br />
least the maximum velocity of the rigid<br />
manipulator with equivalent overall mass?<br />
16:30–16:45 WedFT11.2<br />
On the Control of Redundant Robots<br />
with Variable Stiffness Actuation<br />
Gianluca Palli and Claudio Melchiorri<br />
Dipartimento di Elettronica, Informatica e Sistemistica, Università di Bologna<br />
Viale Risorgimento 2, 40136 Bologna, Italy<br />
email: {gianluca.palli, claudio.melchiorri}@unibo.it<br />
• The control of redundant manipulator<br />
with variable stiffness actuation is<br />
discussed<br />
• An output-based control approach is<br />
adopted<br />
• The actuators dynamics is decoupled<br />
from the arm dynamics by means of<br />
a singular perturbation approach<br />
• The designed controller presents<br />
several advantages with respect to<br />
previously proposed state-feedback<br />
controllers<br />
• The theoretical results are valideted<br />
by simulation of a three DOF planar<br />
manipulator<br />
<strong>2012</strong> IEEE/RSJ International Conference on Intelligent Robots and Systems<br />
–179–<br />
Working principle scheme of a VSA.<br />
17:00–17:15 WedFT11.4<br />
On Impact Decoupling Properties of Elastic<br />
Robots and Time Optimal Velocity Maximization<br />
on Joint Level<br />
S. Haddadin, K. Krieger, N. Mansfeld, A. Albu-Schäffer<br />
Robotics and Mechatronics Center<br />
This paper answers following questions<br />
1) What are suitable reflected stiffness and<br />
inertias for achieving impact decoupling and<br />
how is the maximum collision force affected<br />
by these?<br />
2) How does the most important real-world<br />
state constraint for elastic joints, the<br />
maximum deflection, affect the optimal<br />
excitation (execution of explosive motion)<br />
of the mechanism?