Experimental comparison of nonlinear motion control methods for a variable stiffness actuator
Erler P, Strah B, Rinderknecht S, Beckerle P (2014)
Publication Type: Conference contribution
Publication year: 2014
Publisher: IEEE Computer Society
Pages Range: 1045-1050
Conference Proceedings Title: Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
Event location: Sao Paulo
ISBN: 9781479931262
DOI: 10.1109/biorob.2014.6913918
Abstract
Variable compliant actuators play a key role in the development of efficient biomechatronic systems since energy can be stored in the compliant element thus leading to consumption reduction. In this paper, experimental results comparing passivity-based control (PBC) and feedback linearization (FL) for motion control of an actuator with variable torsional stiffness (VTS) aiming at applications like prosthetic knee joints are presented. The concept of VTS and the experimental setup are described and a mathematical model of the latter one is derived. Based on this, a control architecture consisting of an extended Kalman filter (EKF) to estimate the velocities, a friction compensation as well as the mentioned controller types is developed. Both control methods are analyzed in terms of accuracy, dynamics and their control torque. FL and PBC lead to a stable control with high performance whereas the robustness is low by reason of the model-based control design. FL is superior to the PBC in terms of accuracy and control torque, which is mainly due to the high sensitivity of PBC regarding the discrete position signals. In addition, it is shown that FL can be applied for stable operation near the second natural frequency for different stiffness values.
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Germany (DE)How to cite
APA:
Erler, P., Strah, B., Rinderknecht, S., & Beckerle, P. (2014). Experimental comparison of nonlinear motion control methods for a variable stiffness actuator. In Raffaella Carloni, Lorenzo Masia, Jose Maria Sabater-Navarro, Marko Ackermann, Sunil Agrawal, Arash Ajoudani, Panagiotis Artemiadis, Matteo Bianchi, Antonio Padilha Lanari Bo, Maura Casadio, Kevin Cleary, Ashish Deshpande, Domenico Formica, Matteo Fumagalli, Nicolas Garcia-Aracil, Sasha Blue Godfrey, Islam S.M. Khalil, Olivier Lambercy, Rui C. V. Loureiro, Leonardo Mattos, Victor Munoz, Hyung-Soon Park, Luis Eduardo Rodriguez Cheu, Roque Saltaren, Adriano A. G. Siqueira, Valentina Squeri, Arno H.A. Stienen, Nikolaos Tsagarakis, Herman Van der Kooij, Bram Vanderborght, Nicola Vitiello, Jose Zariffa, Loredana Zollo (Eds.), Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics (pp. 1045-1050). Sao Paulo, BR: IEEE Computer Society.
MLA:
Erler, P., et al. "Experimental comparison of nonlinear motion control methods for a variable stiffness actuator." Proceedings of the 5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014, Sao Paulo Ed. Raffaella Carloni, Lorenzo Masia, Jose Maria Sabater-Navarro, Marko Ackermann, Sunil Agrawal, Arash Ajoudani, Panagiotis Artemiadis, Matteo Bianchi, Antonio Padilha Lanari Bo, Maura Casadio, Kevin Cleary, Ashish Deshpande, Domenico Formica, Matteo Fumagalli, Nicolas Garcia-Aracil, Sasha Blue Godfrey, Islam S.M. Khalil, Olivier Lambercy, Rui C. V. Loureiro, Leonardo Mattos, Victor Munoz, Hyung-Soon Park, Luis Eduardo Rodriguez Cheu, Roque Saltaren, Adriano A. G. Siqueira, Valentina Squeri, Arno H.A. Stienen, Nikolaos Tsagarakis, Herman Van der Kooij, Bram Vanderborght, Nicola Vitiello, Jose Zariffa, Loredana Zollo, IEEE Computer Society, 2014. 1045-1050.
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