Advertisement

Minimal Energy Cartesian Impedance Control of Robot with Bidirectional Antagonistic Drives

Conference paper
  • 1.8k Downloads
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 540)

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.

Keywords

Impedance control Bidirectional antagonistic actuators Compliant actuators QBMove maker pro Minimal energy torque division 

Notes

Acknowledgment

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

References

  1. 1.
    Haddadin, S., Albu-Schäffer, A., Hirzinger, G.: Safe physical human-robot interaction: measurements, analysis and new insights. In: Kaneko, M., Nakamura, Y. (eds.) Robotics Research, vol. 66, pp. 395–407. Springer, Heidelberg (2007)CrossRefGoogle Scholar
  2. 2.
    Van Ham, R., Vanderborght, B., Van Damme, M., Verrelst, B., Lefeber, D.: MACCEPA, the mechanically adjustable compliance and controllable equilibrium position actuator: design and implementation in a biped robot. Robot. Auton. Syst. 55(10), 761–768 (2007)CrossRefGoogle Scholar
  3. 3.
    Migliore, S.A., Brown, E.A., De Weerth, S.P.: Biologically inspired joint stiffness control. In: Proceedings of IEEE International Conference on Robotics and Automation, ICRA 2005, Barcelona, pp. 4519–4524 (2005)Google Scholar
  4. 4.
    Tasch, A.D.U.: A two-DOF manipulator with adjustable compliance capabilities and comparison with the human finger. J. Robot. Syst. 13(1), 25–34 (1996)CrossRefGoogle Scholar
  5. 5.
    Catalano, M., Grioli, G., Garabini, M., Mancini, M., Tsagarakis, N., Bicchi, A.: VSA-CubeBot: a modular variable stiffness platform for multiple degrees of freedom robots. In: Proceedings of IEEE International Conference on Robotics and Automation, ICRA 2011, Shanghai, pp. 5090–5095 (2011)Google Scholar
  6. 6.
    Jovanovic, K., Potkonjak, V., Holland, O.: Dynamic modelling of an anthropomimetic robot in contact tasks. Adv. Robot. 28(11), 793–806 (2014)Google Scholar
  7. 7.
    Potkonjak, V., Svetozarevic, B., Jovanovic, K., Holland, O.: The puller-follower control of compliant and noncompliant antagonistic tendon drives in robotic system. Int. J. Adv. Rob. Syst. 8, 143–155 (2012)Google Scholar
  8. 8.
    Lukic, B., Jovanovic, K.: Influence of mechanical characteristics of a compliant robot on Cartesian impedance control design. In: 2nd IcETRAN Conference, Silver Lake, Serbia, pp. 1–6 (2015)Google Scholar
  9. 9.
    Hogan, N.: Impedance control: an approach to manipulation: Part I - theory. J. Dyn. Syst. Meas. Contr. 107, 1–7 (1985)CrossRefzbMATHGoogle Scholar
  10. 10.
    Hogan, N.: Impedance control: an approach to manipulation: Part II - implementation. J. Dyn. Syst. Meas. Contr. 107, 8–16 (1985)CrossRefzbMATHGoogle Scholar
  11. 11.
  12. 12.
    Grioli, G., Wolf, S., Garabini, M., Catalano, M., Burdetk, E., Carloni, R., Friedl, W., Grebenstein, M., Laffranchi, M., Lefeber, D., Stramigioli, S., Tsagarakis, N., Vanderborght, B., Albu-Schaeffer, A., Bicchi, A.: Variable stiffness actuators: the user’s point of view. Int. J. Robot. Res. 34, 727–743 (2007)CrossRefGoogle Scholar

Copyright information

© Springer International Publishing AG 2017

Authors and Affiliations

  1. 1.School of Electrical Engineering, Laboratory for RoboticsUniversity of BelgradeBelgradeSerbia

Personalised recommendations