TY - JOUR
T1 - Modeling, identification, and control of a discrete variable stiffness actuator (DVSA)
AU - Hussain, Irfan
AU - Albalasie, Ahmad
AU - Awad, Mohammad I.
AU - Gan, Dongming
N1 - Funding Information:
The research leading to these results was funded by the ADEK Award for Research Excellence (AARE) 2017, and Partially Supported Khalifa University of Science and Technology under Award No. CIRA-2018-55 and RC1-2018-KUCARS
Funding Information:
Funding: The research leading to these results was funded by the ADEK Award for Research Excellence (AARE) 2017, and Partially Supported Khalifa University of Science and Technology under Award No. CIRA-2018-55 and RC1-2018-KUCARS
Publisher Copyright:
© 2019 by the authors.
PY - 2019
Y1 - 2019
N2 - A branch of robotics, variable impedance actuation, along with one of its subfields variable stiffness actuation (VSA) targets the realization of complaint robotic manipulators. In this paper, we present the modeling, identification, and control of a discrete variable stiffness actuator (DVSA), which will be developed for complaint manipulators in the future. The working principle of the actuator depends on the involvement of series and parallel springs. We firstly report the conceptual design of a stiffness varying mechanism, and later the details of the dynamic model, system identification, and control techniques are presented. The dynamic parameters of the system are identified by using the logarithmic decrement algorithm, while the control schemes are based on linear quadratic control (LQR) and computed torque control (CTC), respectively. The numerical simulations are performed for the evaluation of each method, and results showed the good potentialities for the system. Future work includes the implementation of the presented approach on the hardware.
AB - A branch of robotics, variable impedance actuation, along with one of its subfields variable stiffness actuation (VSA) targets the realization of complaint robotic manipulators. In this paper, we present the modeling, identification, and control of a discrete variable stiffness actuator (DVSA), which will be developed for complaint manipulators in the future. The working principle of the actuator depends on the involvement of series and parallel springs. We firstly report the conceptual design of a stiffness varying mechanism, and later the details of the dynamic model, system identification, and control techniques are presented. The dynamic parameters of the system are identified by using the logarithmic decrement algorithm, while the control schemes are based on linear quadratic control (LQR) and computed torque control (CTC), respectively. The numerical simulations are performed for the evaluation of each method, and results showed the good potentialities for the system. Future work includes the implementation of the presented approach on the hardware.
KW - Actuator control
KW - Complaint manipulator
KW - Computed torque control (CTC)
KW - Linear quadratic control (LQR)
KW - Variable stiffness actuators (VSA)
UR - http://www.scopus.com/inward/record.url?scp=85070746080&partnerID=8YFLogxK
U2 - 10.3390/ACT8030050
DO - 10.3390/ACT8030050
M3 - Article
AN - SCOPUS:85070746080
SN - 2076-0825
VL - 8
JO - Actuators
JF - Actuators
IS - 3
M1 - 50
ER -