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Pneumatic Variable Series Elastic Actuator
- Publication Year :
- 2016
- Publisher :
- American Society of Mechanical Engineers, 2016.
-
Abstract
- Inspired by human motor control theory, stiffness control is highly effective in manipulation and human-interactive tasks. The implementation of stiffness control in robotic systems, however, has largely been limited to closed-loop control, and suffers from multiple issues such as limited frequency range, potential instability, and lack of contribution to energy efficiency. Variable-stiffness actuator represents a better solution, but the current designs are complex, heavy, and bulky. The approach in this paper seeks to address these issues by using pneumatic actuator as a variable series elastic actuator (VSEA), leveraging the compressibility of the working fluid. In this work, a pneumatic actuator is modeled as an elastic element with controllable stiffness and equilibrium point, both of which are functions of air masses in the two chambers. As such, for the implementation of stiffness control in a robotic system, the desired stiffness/equilibrium point can be converted to the desired chamber air masses, and a predictive pressure control approach is developed to control the timing of valve switching to obtain the desired air mass while minimizing control action. Experimental results showed that the new approach in this paper requires less expensive hardware (on–off valve instead of proportional valve), causes less control action in implementation, and provides good control performance by leveraging the inherent dynamics of the actuator.
- Subjects :
- 0209 industrial biotechnology
Engineering
Plant
02 engineering and technology
Computer Science::Robotics
03 medical and health sciences
020901 industrial engineering & automation
0302 clinical medicine
Motor controller
Control theory
medicine
Instrumentation
Equilibrium point
Pneumatic actuator
business.industry
Pressure control
Mechanical Engineering
Motor control
Stiffness
Control engineering
Research Papers
Computer Science Applications
Control and Systems Engineering
medicine.symptom
business
Actuator
030217 neurology & neurosurgery
Information Systems
Subjects
Details
- Language :
- English
- Database :
- OpenAIRE
- Accession number :
- edsair.doi.dedup.....93fe7f0a1faac784dbd9f9fd8de2c997