期刊
JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME
卷 129, 期 4, 页码 425-434出版社
ASME
DOI: 10.1115/1.2745850
关键词
-
This paper proposes a new approach to the design of a robot actuator with physically variable stiffness. The proposed approach leverages the dynamic characteristics inherent in a pneumatic actuator, which behaves in essence as a series elastic actuator By replacing the four-way servovalve used to control a typical pneumatic actuator with a pair of three-way valves, the stiffness of the series elastic component can be modulated independently of the actuator output force. Based on this notion, the authors propose a control approach for the simultaneous control of actuator output force and stiffness. Since the achievable output force and stiffness are coupled and configuration-dependent, the authors also present a control law that provides either maximum or minimum actuator output stiffness for a given displacement and desired force output. The general control and maximum/minimum stiffness approaches are experimentally demonstrated and shown to provide high fidelity control of force and stiffness, and additionally shown to provide a factor of 6 dynamic range in stiffness.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据