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Modeling, Identification, and Control of a Discrete Variable Stiffness Actuator (DVSA)

1
Khalifa University Center for Autonomous Robotic Systems (KUCARS), Khalifa University of Science and Technology, P.O. Box 127788, Abu Dhabi, United Arab Emirates
2
Department of Mechanical and Mechatronics Engineering, Birzeit University, P.O Box 14, Birzeit West Bank, Palestine
*
Author to whom correspondence should be addressed.
These authors have contributed equally to this work.
Actuators 2019, 8(3), 50; https://doi.org/10.3390/act8030050
Received: 23 April 2019 / Revised: 25 May 2019 / Accepted: 28 May 2019 / Published: 27 June 2019
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PDF [3350 KB, uploaded 27 June 2019]
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Abstract

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. View Full-Text
Keywords: variable stiffness actuators (VSA); linear quadratic control (LQR); computed torque control (CTC); actuator control; complaint manipulator variable stiffness actuators (VSA); linear quadratic control (LQR); computed torque control (CTC); actuator control; complaint manipulator
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Hussain, I.; Albalasie, A.; Awad, M.I.; Gan, D. Modeling, Identification, and Control of a Discrete Variable Stiffness Actuator (DVSA). Actuators 2019, 8, 50.

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