NDLI: Sensor-minimal motion control of variable stiffness actuators based on the passivity principle and velocity estimation

Content Provider	IEEE Xplore Digital Library
Author	Singh, B.R.P. Manivannan, P.V. Beckerle, P.
Copyright Year	2015
Description	Author affiliation: Dept. of Mech. Eng., Tech. Univ. Darmstadt, Darmstadt, Germany (Beckerle, P.) \|\| Dept. of Mech. Eng., Indian Inst. of Technol. Madras, Chennai, India (Singh, B.R.P.; Manivannan, P.V.)
Abstract	This paper investigates a sensor-minimal approach to motion control in variable stiffness actuators. This control approach aims at reducing the need of sensors for tracking a desired trajectory. By this, problems caused by collocation and additional noise in measurement signals could get reduced along with economic benefits due to lower system complexity. Control laws are designed using a passivity-based approach which requires only one sensor, i.e, for measuring actuator position. Due to the demand of information about actuator velocities in the control law, those are calculated using a velocity compensator, numerical calculation, and linear filtering. The parameters of the controller and the velocity compensator are selected based on the global asymptotic stability requirements. To compare the three methods, those are compared regarding the example of the variable torsion stiffness actuator (VTS). Using the controller with the velocity compensator shows good results in simulations and experiments. Numerical calculation achieves slightly worse results while linear filtering does not show feasible results.
Sponsorship	IEEE Ind. Electron. Soc. (IES)
Starting Page	1659
Ending Page	1663
File Size	3028668
Page Count	5
File Format	PDF
e-ISBN	9781467391078
DOI	10.1109/AIM.2015.7222782
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-07-07
Publisher Place	South Korea
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Actuators Trajectory Robot sensing systems Joints Position measurement
Content Type	Text
Resource Type	Article

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