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Time Optimal Control of Variable Stiffness Actuated Systems

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journal contribution
posted on 20.03.2017, 14:38 by Altay Zhakatayev, Matteo Rubagotti, Huseyin Atakan Varol
Variable-stiffness actuation exhibits promising features for obtaining human-like behavior and safer human robot physical interaction. Task planning and closed-loop control of these systems pose many challenges due to their complicated structure, and the need of satisfying many constraints during task execution. This paper introduces a framework for the design and numerical solution of time-optimal control problems for VSA systems. Two different time-optimal control problems, namely “minimum time for target performance” and “minimum time for maximum performance”, are formally defined, and methods for solving them are presented based on existing numerical software tools for nonlinear optimization. Two experimental case studies, focusing on ball throwing tasks with antagonistically-actuated VSA systems, are used to test the presented methods and show their validity.

Funding

Sponsored by: IEEE Industrial Electronics Society ASME Dynamic Systems and Control Division IEEE Robotics and Automation Society

History

Citation

IEEE-ASME Transactions on Mechatronics, 2017, PP(99)

Author affiliation

/Organisation/COLLEGE OF SCIENCE AND ENGINEERING/Department of Engineering

Version

AM (Accepted Manuscript)

Published in

IEEE-ASME Transactions on Mechatronics

Publisher

Institute of Electrical and Electronics Engineers (IEEE), ASME Dynamic Systems and Control Division

issn

1083-4435

eissn

1941-014X

Copyright date

2017

Available date

20/03/2017

Publisher version

http://ieeexplore.ieee.org/document/7858792/

Language

en