Generalizing Torque Control Concepts: Using Well-Established Torque Control Methods on Variable Stiffness Robots
Generalizing Torque Control Concepts: Using Well-Established Torque Control Methods on Variable Stiffness Robots
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DOI：
10.1109/mra.2015.2476576
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发表时间：
2015-12
影响因子：
5.7
通讯作者：
Florian Petit;Alexander Dietrich;A. Albu-Schäffer
中科院分区：
文献类型：
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作者：
Florian Petit;Alexander Dietrich;A. Albu-Schäffer
在机器人系统可以在人类环境中实现之前，必须满足严格的要求，例如，作为服务机器人。健壮性、任务适应性和能源效率是这方面的关键方面。可变刚度机器人已被证明是实现这些标准的一步。在本文中，我们详细阐述了操作这些机器人所需的基本控制方面，并将成熟的扭矩控制方法推广到可变刚度机器人DLR手臂系统（HASy）。介绍了柔性机器人的几种控制方法的适应和实现，并重点介绍了实验验证。
Strict requirements must be met before robotic systems can be implemented in a human environment, for example, as service robots. Robustness, task adaptability, and energy efficiency are key aspects in this regard. Variable stiffness robots have been shown to be one step toward achieving these standards. In this article, we elaborate on the essential control aspects required to operate these robots and generalize well-established torque control methods to a variable stiffness robot, the DLR Hand Arm System (HASy). The adaptation and implementation of several control approaches for the compliant robots are also presented, with a focus on the experimental validation.