A Stiffness-Fault-Tolerant Control Strategy for a Redundant Elastic Actuator

被引：2

作者：

Velasco-Guillen, Rodrigo J. ^{[1
]}

Furnemont, Raphael ^{[2
,3
]}

Verstraten, Tom ^{[2
,3
]}

Beckerle, Philipp ^{[1
,4
]}

机构：

[1] Friedrich Alexander Univ Erlangen Nurnberg, Inst Autonomous Syst & Mechatron, Erlangen, Germany

[2] Vrije Univ Brussel, Robot & MultiBody Mech Res Grp, Brussels, Belgium

[3] Flanders Make, Brussels, Belgium

[4] Friedrich Alexander Univ Erlangen Nurnberg, Dept Artificial Intelligence Biomed Engn AIBE, Erlangen, Germany

来源：

2022 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM) | 2022年

关键词：

SPEA;

D O I：

10.1109/AIM52237.2022.9863361

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Elastic actuators show advantages in energy efficiency and safety in human-robot interaction. However, such actuators might be subject to faults due to their complexity, particularly in elastic and kinematic elements. We present a stiffness-fault-tolerant control strategy for a redundant actuator with multiple elastic actuation units. The control scheme is capable of detecting and compensating for stiffness changes in individual elastic elements. We develop the dynamics of the actuator and a model-based impedance control scheme. The obtained closed-loop dynamic interaction behavior of the system and its stability is analyzed. Oscillatory trajectory simulations are used to evaluate the control strategy. Results show that the controller is capable of tracking a reference trajectory with desired interaction impedance behavior under fault conditions and interaction disturbances, while exploiting redundancy to perform load compensation.

引用

页码：1360 / 1365

页数：6

共 17 条

[1]

Anderson B. D. O., 1979, OPTIMAL FILTERING, V116, P28

[2] Practical relevance of faults, diagnosis methods, and tolerance measures in elastically actuated robots [J].