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Minimal Energy Cartesian Impedance Control of Robot with Bidirectional Antagonistic Drives

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Advances in Robot Design and Intelligent Control (RAAD 2016)

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 540))

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Abstract

This paper investigates how to split actuating torques between prime movers in bidirectional antagonistic actuators to obtain desired Cartesian stiffness with minimal energy store. Minimal energy in elastic elements during robot motion will ensure maximal energy storage capacity in case of a collision. The correlation between joint stiffness and energy stored in springs is demonstrated. A simulation case study targets a two DOF-s robot driven by QBMove maker pro actuator. Finally, a control scheme comprising impedance control and equal torque distribution between two bidirectional antagonistic drives is derived and validated through simulations.

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Acknowledgment

This work was partly funded by the Ministry of Education, Science and Technological Development, Republic of Serbia, under contract TR-35003.

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Authors and Affiliations

  1. School of Electrical Engineering, Laboratory for Robotics, University of Belgrade, Belgrade, Serbia

    Branko Lukić & Kosta Jovanović

Authors
  1. Branko Lukić
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  2. Kosta Jovanović
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Corresponding author

Correspondence to Branko Lukić .

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Editors and Affiliations

  1. Robotics Laboratory, Mihajlo Pupin Institute, Belgrade, Serbia

    Aleksandar Rodić

  2. Faculty of Automatic Control and Computers, University Politehnica of Bucharest, Bucharest, Romania

    Theodor Borangiu

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Lukić, B., Jovanović, K. (2017). Minimal Energy Cartesian Impedance Control of Robot with Bidirectional Antagonistic Drives. In: Rodić, A., Borangiu, T. (eds) Advances in Robot Design and Intelligent Control. RAAD 2016. Advances in Intelligent Systems and Computing, vol 540. Springer, Cham. https://doi.org/10.1007/978-3-319-49058-8_7

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  • DOI: https://doi.org/10.1007/978-3-319-49058-8_7

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-49057-1

  • Online ISBN: 978-3-319-49058-8

  • eBook Packages: EngineeringEngineering (R0)

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