NDLI: On the feedback linearization of robots with variable joint stiffness

Content Provider	IEEE Xplore Digital Library
Author	Palli, G. Melchiorri, C. De Luca, A.
Copyright Year	2008
Description	Author affiliation: Dipt. di Elettron., Univ. di Bologna, Bologna (Palli, G.; Melchiorri, C.)
Abstract	Physical human-robot interaction requires the development of safe and dependable robots. This involves the mechanical design of lightweight and compliant manipulators and the definition of motion control laws that allow to combine compliant behavior in reaction to possible collisions, while preserving accuracy and performance of rigid robots in free space. In this framework, great attention has been given to robots manipulators with relevant elasticity at the joints/transmissions. While the modeling and control of robots with elastic joints of finite but constant stiffness is a well- established topic, few results are available for the case of robot structures with variable joint stiffness -mostly limited to the 1-dof case. We present here a basic control study for a general class of multi-dof manipulators with variable joint stiffness, taking into account different possible modalities for changing the joint stiffness on the fly by an additional set of commands. It is shown that nonlinear control laws, based either on static or dynamic state feedback, are able to exactly linearize the closed- loop equations and allow to simultaneously impose a desired behavior to the robot motion and to the joint stiffness in an decoupled way. Illustrative simulations results are presented.
Starting Page	1753
Ending Page	1759
File Size	202984
Page Count	7
File Format	PDF
ISBN	9781424416462
ISSN	10504729
DOI	10.1109/ROBOT.2008.4543454
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-05-19
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Orbital robotics Motion control Human robot interaction Elasticity Robot control Manipulator dynamics Linear feedback control systems State feedback Nonlinear equations Robot motion Nonlinear Systems Robot Manipulators Elastic Joints Variable Stiffness Feedback Linearization
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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