A New Control Method Utilizing Stiffness Adjustment of Mechanical Elastic Elements for Serial Link Systems
A New Control Method Utilizing Stiffness Adjustment of Mechanical Elastic Elements for Serial Link Systems
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串行链路系统机械弹性元件刚度调节的新控制方法
DOI：
10.1109/robot.2007.363186
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发表时间：
2007
期刊：
影响因子：
--
通讯作者：
S. Kawamura
中科院分区：
文献类型：
--
作者：
M. Uemura;K. Kanaoka;S. Kawamura
提出了一种利用机械弹性元件刚度调节的串行连杆系统正弦运动跟踪控制方法。虽然被控对象的动力学是非线性的，但刚度调整实现了类似于线性系统共振的条件。我们提出了一种控制器，可以调节弹性元件的刚度，以减少执行器的扭矩要求，同时产生期望的运动。该控制器工作时不需要使用被控对象的动力学模型和参数。证明了控制器的稳定性，并保证了跟踪误差收敛到某一区域。仿真结果验证了该方法的有效性。我们还介绍了该方法在动力辅助系统中的应用。
This paper proposes a tracking control method of sinusoidal motions utilizing stiffness adjustment of mechanical elastic elements for serial link systems. Although dynamics of the controlled objects is nonlinear, the stiffness adjustment realize a condition similar to a resonance of linear systems. We present a controller that adjusts stiffness of the elastic elements to reduce torque requirement of actuators while generating desired motions. The proposed controller works without using dynamics models nor parameters of the controlled objects. Stability of the controller is proved, and tracking errors are guaranteed to converge to a certain region. Simulation results demonstrate the validity of the proposed method. We also present an application of the proposed method to power assist systems.