NDLI: The role of physical damping in compliant actuation systems

Content Provider	IEEE Xplore Digital Library
Author	Laffranchi, M. Chen, L. Tsagarakis, N.G. Caldwell, D.G.
Copyright Year	2012
Description	Author affiliation: Department of Advanced Robotics, Italian institute of Technology (IIT), Via Morego 30, Genova 16163, Italy (Laffranchi, M.; Chen, L.; Tsagarakis, N.G.; Caldwell, D.G.)
Abstract	Recently, compliance has been considered as one of the key physical properties that a robot should incorporate to be able to physically interact with humans and uncertain environments. Apart from the improved ability of interaction, mechanical robustness and higher safety-related performances, compliance introduces underdamped oscillatory modes and reduces the mechanical natural frequency of the plant to be controlled making its control much more complex than that of conventional stiff actuators. To overcome these drawbacks, some recent works focus on the incorporation of physical damping within compliant actuators. This work presents an analysis for the quantitative evaluation of the effects of physical damping in compliant robotic joints to demonstrate the improvements (dynamic performance, stability, controllability, tracking precision and energy efficiency) which can be gained by incorporating physical damping in such flexible transmission systems. Simulation and experimental results validate that these benefits can effectively be achieved on an existing compliant actuator prototype with variable physical damping.
Starting Page	3079
Ending Page	3085
File Size	862367
Page Count	7
File Format	PDF
ISBN	9781467317375
ISSN	21530858
e-ISBN	9781467317368
DOI	10.1109/IROS.2012.6385883
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-10-07
Publisher Place	Portugal
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Damping Actuators Joints Robots Mathematical model Safety Rotors
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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