Control System Design for Two Link Robot Arm with MACCEPA 2.0 Variable Stiffness Actuators

2019 ◽  
Author(s):  
Sergei Savin ◽  
Svyatoslav Golousov ◽  
Ramil Khusainov ◽  
Oleg Balakhnov ◽  
Alexandr Klimchik
Keyword(s):  
Control System ◽  
System Design ◽  
Variable Stiffness ◽  
Control System Design ◽  
Robot Arm ◽  
Variable Stiffness Actuators

Dynamic Models for Control System Design of Integrated Robot and Drive Systems

1985 ◽  
Vol 107 (1) ◽  
pp. 53-59 ◽  
Author(s):  
M. C. Good ◽  
L. M. Sweet ◽  
K. L. Strobel
Keyword(s):  
Experimental Data ◽  
Control System ◽  
System Design ◽  
High Performance ◽  
Dynamic Models ◽  
Industrial Robots ◽  
Analytical Models ◽  
Control System Design ◽  
Robot Arm ◽  
Drive Systems

The design of high performance motion controls for industrial robots is based on accurate models for the robot arm and drive systems. This paper presents analytical models and experimental data to show that interactions between electromechanical drives coupled with compliant linkages to arm link drive points are of fundamental importance to robot control system design. Flexibility in harmonic drives produces resonances in the 5 Hz to 8 Hz range. Flexibility in the robot linkages and joints connecting essentially rigid arm members produces higher frequency modes at 14 Hz and 40 Hz. The nonlinear characteristics of the drive system are modeled, and compared to experimental data. The models presented have been validated over the frequency range 0 to 50 Hz. The paper concludes with a brief discussion of the influence of model characteristics on motion control design.

Sign in / Sign up

Export Citation Format

Share Document