Cascade Controller Design for Compliant Actuators
Compliant actuators are widely used in industrial robots due to the fact that the compliant elements have the capacity to absorb excessive collision force and guarantee the robot safety.Moreover,the compliant elements can be also employed as force/torque sensors in the control loops.Therefore,the research on the compliant actuators is of importance in the theory and application sides.Specifically,it is required that the robot systems should have a low stiffness when the subjected collision force is greater than the prescribed injury tolerance.But,in the normal status,the systems maintain the required capability.In this paper,the system stiffness of a compliant actuator is defined as a mechanical impedance (the ratio between output force and output shaft angle).A cascade controller is well designed by following the results on analyzing the characteristic of compliant actuator impedance stability and collision.At the end,simulation results show the effectiveness of the analytic results and designed controller.
Compliant Actuator Cascade control Mechanical impedance Collision force
Tao Qiao Shusheng Bi
Robotics Institute, Beihang University, Beijing, China,100191
国际会议
台湾
英文
23-28
2012-03-23（万方平台首次上网日期，不代表论文的发表时间）