Control System Design for Two Link Robot Arm with MACCEPA 2.0 Variable Stiffness Actuators

The paper deals with control system design for a robotic arm with variable stiffness actuators (VSA). Particular attention is paid to the MACEPPA (Mechanically Adjustable Compliance and Controllable Equilibrium Position Actuator) type VSA and its utilization for delicate manipulation of objects with...

Full description

Saved in:
Bibliographic Details
Main Authors: Savin, Sergei, Golousov, Svyatoslav, Khusainov, Ramil, Balakhnov, Oleg, Klimchik, Alexandr
Format: Conference Proceeding
Language:English
Subjects:
Actuators
Collision avoidance
Manipulators
Task analysis
Torque
Citations: Items that cite this one
Online Access:Request full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:The paper deals with control system design for a robotic arm with variable stiffness actuators (VSA). Particular attention is paid to the MACEPPA (Mechanically Adjustable Compliance and Controllable Equilibrium Position Actuator) type VSA and its utilization for delicate manipulation of objects with unknown dynamic parameters. The proposed solution contains two layers controlling output position/torque and internal state parameters. The designed control system was tested on the two-link manipulator with MACCEPA 2.0 type actuators.
ISSN:2159-6255
DOI:10.1109/AIM.2019.8868490