Journal
ACTUATORS
Volume 10, Issue 6, Pages -Publisher
MDPI
DOI: 10.3390/act10060116
Keywords
variable stiffness; decoupling control; compliance; torque compensation
Funding
- National Natural Science Fund of China [52005344, 52005345]
- National Key Research and Development Project [2020YFC2006701]
- Capacity Building of Key Laboratory of Complex Surface NC Manufacturing Technology in Liaoning Province [2020JH6/10500048]
- scientific research fund project of Liaoning Provincial Department of Education [LFGD2020002, LJGD2019011]
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This study developed a novel decoupling method for the independent control of the position and stiffness of a variable stiffness joint actuator (VSJA). By using static analysis and the Jacobian matrix, the stiffness and dynamics model of the robot joint actuator were obtained. The hybrid dynamic model allowed for torque compensation of the VSJA to enhance position control, and the compliance control method was verified through simulation and experimental analysis.
This study aims to develop a novel decoupling method for the independent control of the position and stiffness of a variable stiffness joint actuator (VSJA), which has been proven to be able to vary its stiffness in a larger range than other variable stiffness actuators. Using static analysis and the Jacobian matrix, we obtained the model of the stiffness of the robot joint actuator and dynamics. Based on the hybrid dynamic model of position and stiffness, it is possible to compensate for the torque of the variable stiffness joint actuator (VSJA) to enhance position control. Finally, after describing the actuator prototype, the established compliance control method is verified using simulation and experimental analysis.
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