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Reducing control efforts for preplanned motions by parallel elastic actuators
Umeå University, Faculty of Science and Technology, Department of Applied Physics and Electronics.
Umeå University, Faculty of Science and Technology, Department of Applied Physics and Electronics.
Umeå University, Faculty of Science and Technology, Department of Applied Physics and Electronics.
Umeå University, Faculty of Science and Technology, Department of Applied Physics and Electronics.
2010 (English)In: The international journal of robotics research, ISSN 0278-3649, E-ISSN 1741-3176, Vol. 29, no 9, 1186-1198 p.Article in journal (Refereed) Published
Abstract [en]

A lack of sufficient actuation power as well as the presence of passive degrees of freedom are often serious constraints for feasible motions of a robot. Installing passive elastic mechanisms in parallel with the original actuators is one of a few alternatives that allows for large modifications of the range of external forces or torques that can be applied to the mechanical system. If some motions are planned that require a nominal control input above the actuator limitations, then we can search for auxiliary spring-like mechanisms complementing the control scheme in order to overcome the constraints. The intuitive idea of parallel elastic actuation is that spring-like elements generate most of the nominal torque required along a desired trajectory, so the control efforts of the original actuators can be mainly spent in stabilizing the motion. Such attractive arguments are, however, challenging for robots with non-feedback linearizable non-minimum phase dynamics that have one or several passive degrees of freedom. We suggest an approach to resolve the apparent difficulties and illustrate the method with an example of an underactuated planar double pendulum. The results are tested both in simulations and through experimental studies.

Place, publisher, year, edition, pages
Sage Publications, 2010. Vol. 29, no 9, 1186-1198 p.
Keyword [en]
compliant actuators, underactuated mechanical systems, motion planning, walking robots, virtual holonomic constraints
National Category
Physical Sciences Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
URN: urn:nbn:se:umu:diva-30768DOI: 10.1177/0278364909344002ISI: 000280644800004OAI: oai:DiVA.org:umu-30768DiVA: diva2:286701
Available from: 2010-01-15 Created: 2010-01-15 Last updated: 2017-12-12Bibliographically approved

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Mettin, UweLa Hera, PedroShiriaev, AntonFreidovich, Leonid
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CiteExportLink to record
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Citation style
  • apa
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  • vancouver
  • Other style
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  • de-DE
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  • asciidoc
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