Study on compliant control and torque compensation method of wire-driven variable stiffness joint

被引：0
|
作者：
Fang L. [1 ]
Zhang M. [2 ]
Sun F. [3 ]
Koichi O. [4 ]
机构：
[1] Faculty of Robot Science and Engineering, Northeastern University, Shenyang
[2] School of Mechanical Engineering and Automation, Northeastern University, Shenyang
[3] School of Mechanical Engineering, Shenyang University of Technology, Shenyang
[4] Department of Intelligent Mechanical System Engineering, Kochi University of Technology, Kochi
来源：
Yi Qi Yi Biao Xue Bao/Chinese Journal of Scientific Instrument | 2019年 / 40卷 / 12期
关键词：
Compliance; Decoupling control; Torque compensation; Variable stiffness joint;
D O I：
10.19650/j.cnki.cjsi.J1904980
中图分类号：
学科分类号：
摘要：
The compliant motion of robot helps to improve its safety and stability in interactive motion, which has attracted much more attention in recent years. In this paper, aiming at a wire-driven flexible robotic joint with active and passive compliance, a decoupling compliant control method for the stiffness and position of the wire-driven variable-stiffness joint is proposed, which realizes the joint position control and also achieves the uniformity of joint compliance. The stiffness model of the joint is obtained using the Jacobian matrix and the static relationship between the models. The nonlinear equations composed of the mechanical model and stiffness model of the variable stiffness device are solved with optimization method to realize the nonlinear decoupling of the stiffness and position of the variable-stiffness joint. Based on the decoupling control, a torque observation method is proposed to realize the torque compensation of the joint and enhance the joint position control ability. The prototype and control system of the wire-driven variable-stiffness joint were built, and simulation and experiment analysis verify the feasibility and effectiveness of the above compliant control method. © 2019, Science Press. All right reserved.
引用
收藏
页码：234 / 241
页数：7
相关论文
共 19 条
  • [1] Wang Y., Fang L.J., Principle and design of mechanically musculoskeletal variable-stiffness mechanism, Robot, 37, 4, pp. 507-511, (2015)
  • [2] Jalani J., Mahyuddin N., Herrmann G., Et al., Active robot hand compliance using operational space and integral sliding mode control, IEEE/ASME International Conference on Advanced Intelligent Mechatronics, pp. 1749-1754, (2013)
  • [3] Wang W., Liu L.D., Wei L., Et al., Design and research of rack-based variable stiffness actuator, Journal of Mechanical Engineering, 52, 1, pp. 26-32, (2016)
  • [4] Jiang L.J., Zhang F.H., Ren G.Y., Et al., Research on a synchronous or asynchronous rehabilitation robot with linkage of limbs, Chinese Journal of Scientific Instrument, 38, 10, pp. 2381-2390, (2017)
  • [5] Zheng Y., Jing X.B., Li G.L., Application of human-machine intelligence synergy in the field of medical and rehabilitation robot, Chinese Journal of Scientific Instrument, 38, 10, pp. 2373-2380, (2017)
  • [6] Petit F., Chalon M., Friedl W., Et al., Bidirectional antagonistic variable stiffness actuation: analysis, design & implementation, IEEE International Conference on Robotics and Automation, pp. 4189-4196, (2010)
  • [7] Ibrahim K., Ali A.S., Development a force feedback control of robot manipulator, 2nd International Conference on Control, Automation and Robotics, pp. 34-37, (2016)
  • [8] Kazemi M., Valois J.S., Andrew B.J., Human-inspired force compliant grasping primitives, Autonomous Robots, 37, 2, pp. 209-225, (2014)
  • [9] Zhang M., Fang L.J., Sun F., Et al., Realization of flexible motion of robot joint with a novel permanent magnetic spring, IEEE International Conference on Intelligence and Safety for Robotics, pp. 331-336, (2018)
  • [10] Tonietti G., Schiavi R., Bicchi A., Design and control of a variable stiffness actuator for safe and fast physical human/robot interaction, Proceedings of the IEEE International Conference on Robotics and Automation, pp. 526-531, (2005)
12