Optimal control for maximizing velocity of the CompAct™ compliant actuator
Optimal control for maximizing velocity of the CompAct™ compliant actuator
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优化控制以最大化 CompAct™ 兼容执行器的速度
DOI：
10.1109/icra.2013.6630623
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发表时间：
2013
期刊：
影响因子：
--
通讯作者：
D. Caldwell
中科院分区：
文献类型：
--
作者：
Lisha Chen;M. Garabini;M. Laffranchi;Navvab Kashiri;N. Tsagarakis;A. Bicchi;D. Caldwell
CompAct™致动器具有与其被动串联弹性传动元件并联放置的离合器机构，因此可以受益于串联弹性致动器（SEA）和刚性致动器的优点。致动器能够通过离合器子系统的适当控制来有效地管理柔性元件的势能的存储和释放。控制的弹性元件中的能量存储/释放的定时被利用，以改善在这项研究中的运动控制。本文分析了如何使用这类驱动系统，以最大限度地提高关节的连杆速度。关节的动力学模型推导和最优控制策略，提出了确定最佳的输入参考配置文件的致动器（电机位置/速度和离合器激活时间），允许链接速度最大化。研究了关节柔度对系统性能的影响，分析了最佳刚度。
The CompAct™ actuator features a clutch mechanism placed in parallel with its passive series elastic transmission element and can therefore benefit from the advantages of both series elastic actuators (SEA) and rigid actuators. The actuator is capable of effectively managing the storage and release of the potential energy of the compliant element by the appropriate control of the clutch subsystem. Controlling the timing of the energy storage/release in the elastic element is exploited for improving motion control in this research. This paper analyses how this class of actuation systems can be used to maximize the link velocity of the joint. The dynamic model of the joint is derived and an optimal control strategy is proposed to identify optimal input reference profiles for the actuator (motor position/velocity and clutch activation timing) which permit the link velocity maximization. The effect of compliance of the joint on the performance of the system is studied and the optimal stiffness is analyzed.