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Conference proceeding
Dynamic Modeling and Robust Torque Control of a Discrete Variable Stiffness Actuator
Proceedings of the ASME 2023 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 8: 47th Mechanisms and Robotics Conference (MR)
Mechanisms and Robotics Conference (MR), 47th (Boston, Massachusetts, USA, 08/20/2023–08/23/2023)
08/20/2023
Abstract
Abstract
Collaborative robots, or cobots, have been developed as a solution to the growing need for robots that can work alongside humans safely and effectively. One emerging technology in robotics is the use of Discrete Variable Stiffness Actuators (DVSAs), which enable robots to adjust their stiffness in a fast-discrete manner. This enables cobots to work in both low and high stiffness modes, allowing for safe collaboration with human workers or operation behind safety barriers. However, achieving good performance with different stiffness modes of DVSAs is a challenging problem. This paper proposes a method to provide force control of a DVSA by exploiting the dynamic model and the discrete stiffness levels. The two-mass dynamic model, a widely accepted model of flexible systems, is used to model and analyze the DVSA. The proposed method involves using Gain-scheduling and Deterministic Robust Control (DRC) controllers as modelbased control algorithms for the DVSA to achieve high-precision force control. We also conducted a comparison with the commonly used proportional integral derivative (PID) control algorithms. The paper presents a detailed analysis of the dynamic behavior of the DVSA and demonstrates the effectiveness of the proposed control algorithms through simulation with different scenario comparisons, even in the presence of external disturbances.
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Details
- Title
- Dynamic Modeling and Robust Torque Control of a Discrete Variable Stiffness Actuator
- Publication Details
- Proceedings of the ASME 2023 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 8: 47th Mechanisms and Robotics Conference (MR)
- Resource Type
- Conference proceeding
- Conference
- Mechanisms and Robotics Conference (MR), 47th (Boston, Massachusetts, USA, 08/20/2023–08/23/2023)
- Publisher
- American Society of Mechanical Engineers (ASME)
- Copyright
- © 2023 by ASME
- Identifiers
- 99380579482106600
- Academic Unit
- Hal Marcus College of Science and Engineering ; Mechanical Engineering
- Language
- English