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Alternative TitleRobot Joint Stiffness Control Based on Series Elastic Actuator
林光模; 赵新刚; 韩建达; 刘光军
Source Publication信息与控制
Indexed ByCSCD
Contribution Rank1
Funding Organization国家高技术研究发展计划资助项目(2015AA042302)
Keyword串联弹性驱动器 刚度控制 人机协作


Other Abstract

The flexibility of robot joints plays an important role in the human-robot collaboration process. However, the fixed flexible joint cannot meet the demands for the dynamic variation of human-robot collaboration. Thus, it is necessary for the robot joint actuator to be capable of stiffness tuning. A stiffness control method that can be applied to a series elastic actuator with fixed stiffness and in which Archimedes spiral spring is adopted as the flexible element of robot joint is proposed. According to the definition of joint stiffness, the measured output angle of spring can be used to calculate the input angle of spring, so that the equivalent stiffness of robot joint actuator can be adjusted into the expected value. This method regards the motor position controller as the inner loop and the joint stiffness controller as the outer loop, which simplifies the design of controllers and enables the decoupling control. The designed stiffness controller is theoretically analyzed. Finally, a stiffness adjustment experiment was carried out on the experiment platform with the self-designed single DOF thin-type series elastic actuator for cases of two-way step of stiffness, zero stiffness, and stiffness with sinusoidal variation. The experiment results show that the equivalent stiffness of joint can accurately trace the expected value, which verifies the validity of the proposed method.

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Document Type期刊论文
Corresponding Author林光模
Recommended Citation
GB/T 7714
林光模,赵新刚,韩建达,等. 机器人串联弹性关节驱动器的刚度控制方法[J]. 信息与控制,2019,48(3):364-371.
APA 林光模,赵新刚,韩建达,&刘光军.(2019).机器人串联弹性关节驱动器的刚度控制方法.信息与控制,48(3),364-371.
MLA 林光模,et al."机器人串联弹性关节驱动器的刚度控制方法".信息与控制 48.3(2019):364-371.
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