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Modeling and Control of Adjustable Articulated Parallel Compliant Actuation Arrangements in Articulated Robots

Considerable advances in robotic actuation technology have been made in recent years. Particularly the use of compliance has increased, both as series elastic elements as well as in parallel to the main actuation drives. This work focuses on the model formulation and control of compliant actuation s...

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Detalles Bibliográficos
Autor principal: Roozing, Wesley
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Frontiers Media S.A. 2018
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7805614/
https://www.ncbi.nlm.nih.gov/pubmed/33500891
http://dx.doi.org/10.3389/frobt.2018.00004
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author Roozing, Wesley
author_facet Roozing, Wesley
author_sort Roozing, Wesley
collection PubMed
description Considerable advances in robotic actuation technology have been made in recent years. Particularly the use of compliance has increased, both as series elastic elements as well as in parallel to the main actuation drives. This work focuses on the model formulation and control of compliant actuation structures including multiple branches and multiarticulation, and significantly contributes by proposing an elegant modular formulation that describes the energy exchange between the compliant elements and articulated multibody robot dynamics using the concept of power flows, and a single matrix that describes the entire actuation topology. Using this formulation, a novel gradient descent based control law is derived for torque control of compliant actuation structures with adjustable pretension, with proven convexity for arbitrary actuation topologies. Extensions toward handling unidirectionality of elastic elements and joint motion compensation are also presented. A simulation study is performed on a 3-DoF leg model, where series-elastic main drives are augmented by parallel elastic tendons with adjustable pretension. Two actuation topologies are considered, one of which includes a biarticulated tendon. The data demonstrate the effectiveness of the proposed modeling and control methods. Furthermore, it is shown the biarticulated topology provides significant benefits over the monoarticulated arrangement.
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spelling pubmed-78056142021-01-25 Modeling and Control of Adjustable Articulated Parallel Compliant Actuation Arrangements in Articulated Robots Roozing, Wesley Front Robot AI Robotics and AI Considerable advances in robotic actuation technology have been made in recent years. Particularly the use of compliance has increased, both as series elastic elements as well as in parallel to the main actuation drives. This work focuses on the model formulation and control of compliant actuation structures including multiple branches and multiarticulation, and significantly contributes by proposing an elegant modular formulation that describes the energy exchange between the compliant elements and articulated multibody robot dynamics using the concept of power flows, and a single matrix that describes the entire actuation topology. Using this formulation, a novel gradient descent based control law is derived for torque control of compliant actuation structures with adjustable pretension, with proven convexity for arbitrary actuation topologies. Extensions toward handling unidirectionality of elastic elements and joint motion compensation are also presented. A simulation study is performed on a 3-DoF leg model, where series-elastic main drives are augmented by parallel elastic tendons with adjustable pretension. Two actuation topologies are considered, one of which includes a biarticulated tendon. The data demonstrate the effectiveness of the proposed modeling and control methods. Furthermore, it is shown the biarticulated topology provides significant benefits over the monoarticulated arrangement. Frontiers Media S.A. 2018-02-12 /pmc/articles/PMC7805614/ /pubmed/33500891 http://dx.doi.org/10.3389/frobt.2018.00004 Text en Copyright © 2018 Roozing. http://creativecommons.org/licenses/by/4.0/ This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.
spellingShingle Robotics and AI
Roozing, Wesley
Modeling and Control of Adjustable Articulated Parallel Compliant Actuation Arrangements in Articulated Robots
title Modeling and Control of Adjustable Articulated Parallel Compliant Actuation Arrangements in Articulated Robots
title_full Modeling and Control of Adjustable Articulated Parallel Compliant Actuation Arrangements in Articulated Robots
title_fullStr Modeling and Control of Adjustable Articulated Parallel Compliant Actuation Arrangements in Articulated Robots
title_full_unstemmed Modeling and Control of Adjustable Articulated Parallel Compliant Actuation Arrangements in Articulated Robots
title_short Modeling and Control of Adjustable Articulated Parallel Compliant Actuation Arrangements in Articulated Robots
title_sort modeling and control of adjustable articulated parallel compliant actuation arrangements in articulated robots
topic Robotics and AI
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7805614/
https://www.ncbi.nlm.nih.gov/pubmed/33500891
http://dx.doi.org/10.3389/frobt.2018.00004
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