scholarly journals Modeling and control of inherently safe robots with variable stiffness links

2019 ◽  
Vol 120 ◽  
pp. 103247 ◽  
Author(s):  
Siyang Song ◽  
Xianpai Zeng ◽  
Yu She ◽  
Junmin Wang ◽  
Hai-Jun Su
Keyword(s):  
Variable Stiffness ◽  
Modeling And Control ◽  
And Control

Modeling and Control of a Novel Variable-Stiffness Regenerative Actuator

2018 ◽  
Author(s):  
Erivelton Gualter dos Santos ◽  
Hanz Richter
Keyword(s):  
Position Control ◽  
Lightweight Design ◽  
Variable Stiffness ◽  
Electrical Energy ◽  
Flexible Beam ◽  
Modeling And Control ◽  
Electromechanical Drive ◽  
Elastic Potential Energy ◽  
Mechanical Dynamics ◽  
And Control

This paper focuses on the design, modeling and basic control of a variable stiffness actuator to be used in combination with a regenerative electromechanical drive system. Due to the use of a flexible beam, the actuator has the ability to store and return elastic potential energy. Also, an ultracapacitor is used in the electromechanical drive, which allows electrical energy storage and return. Moreover, elastic and electrostatic energies can be exchanged, resulting in a highly efficient and lightweight design which will be beneficial for robotic prostheses, exoskeletons and other orthotic devices. The paper presents a model and calculation method for large beam deflections and the integrated electromechanical actuator model. A semiactive virtual control strategy is used to decouple the mechanical dynamics from the charge dynamics and achieve position control of the actuator. Simulation results are presented to illustrate the control system and the energy exchange features.

Design, modeling and control of a reconfigurable variable stiffness actuator

2021 ◽  
Vol 160 ◽  
pp. 107883
Author(s):  
Yapeng Xu ◽  
Kai Guo ◽  
Jie Sun ◽  
Jianfeng Li
Keyword(s):  
Variable Stiffness ◽  
Modeling And Control ◽  
Variable Stiffness Actuator ◽  
And Control

Design, Modeling, and Control of a Variable Stiffness Device for Wrist Rehabilitation

2021 ◽  
Author(s):  
O. Manolo Flores ◽  
Jesus H. Lugo ◽  
Alejandro Gonzalez ◽  
Mauro Maya ◽  
Emilio J. Gonzalez-Galvan ◽  
...  
Keyword(s):  
Variable Stiffness ◽  
Modeling And Control ◽  
And Control

scholarly journals Dynamic Modeling and Control of Antagonistic Variable Stiffness Joint Actuator

Actuators ◽  
2021 ◽  
Vol 10 (6) ◽  
pp. 116
Author(s):  
Ming Zhang ◽  
Pengfei Ma ◽  
Feng Sun ◽  
Xingwei Sun ◽  
Fangchao Xu ◽  
...  
Keyword(s):  
Dynamic Modeling ◽  
Position Control ◽  
Jacobian Matrix ◽  
Control Method ◽  
Variable Stiffness ◽  
Compliance Control ◽  
Decoupling Method ◽  
Modeling And Control ◽  
And Control ◽  
Variable Stiffness Actuators

This study aims to develop a novel decoupling method for the independent control of the position and stiffness of a variable stiffness joint actuator (VSJA), which has been proven to be able to vary its stiffness in a larger range than other variable stiffness actuators. Using static analysis and the Jacobian matrix, we obtained the model of the stiffness of the robot joint actuator and dynamics. Based on the hybrid dynamic model of position and stiffness, it is possible to compensate for the torque of the variable stiffness joint actuator (VSJA) to enhance position control. Finally, after describing the actuator prototype, the established compliance control method is verified using simulation and experimental analysis.

Modeling and Control for Plant Dynamics Based on Reinforcement Learning

2009 ◽  
Vol 129 (4) ◽  
pp. 363-367
Author(s):  
Tomoyuki Maeda ◽  
Makishi Nakayama ◽  
Hiroshi Narazaki ◽  
Akira Kitamura
Keyword(s):  
Reinforcement Learning ◽  
Modeling And Control ◽  
Plant Dynamics ◽  
And Control
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