A systematic approach to experimental modeling and assessment of elastic actuators by component-wise parameter identification

Lendermann, M.; Stuhlenmiller, Florian; Erler, Philipp; Beckerle, Philipp; Rinderknecht, Stephan

doi:10.1109/iros.2015.7354314

Cited by 5 publications

(4 citation statements)

References 23 publications

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“…To this end, power is integrated over the period t = 1 f d to determine the consumed energy per oscillation. The considered parameters of the variable torsion stiffness (VTS) prototype are determined in [13,22,24] and summarized in Table 1. The serial stiffness K s is varied.…”

Section: Resultsmentioning

confidence: 99%

“…To examine how those requirements are influenced by natural dynamics and stiffness variation, the results are juxtaposed to the analytically obtained natural and antiresonance frequencies. Moreover, mechanical losses due to friction at actuator and link [24] are considered. Experiments show that the link losses are mainly comprised of Coulomb friction of the bearing, which can be described by…”

Section: Energy Consumption Analysismentioning

confidence: 99%

“…In [24], Coulomb, Stribeck, and viscous friction are experimentally observed at the actuator and modeled by…”

Section: Energy Consumption Analysismentioning

confidence: 99%

“…The resulting mapping between active length and antiresonance frequency is shown in Figure 4. To obtain this characteristic curve, free oscillation experiments of the link are performed with the actuator being locked [24]. The natural frequency of the remaining single mass oscillator coincide with the antiresonance of the whole VTS system.…”

Section: Stiffness Controlmentioning

confidence: 99%

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Stiffness Control of Variable Serial Elastic Actuators: Energy Efficiency through Exploitation of Natural Dynamics

2017

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Variable elastic actuators are very promising for applications in physical human-robot interaction. Besides enabling human safety, such actuators can support energy efficiency, especially if the natural behavior of the system is exploited. In this paper, the power and energy consumption of variable stiffness actuators with serial elasticity is investigated analytically and experimentally. Besides the fundamental mechanics, the influence of friction and electrical losses is discussed. A simple but effective stiffness control method is used to exploit the corresponding knowledge of natural dynamics by tuning the system to antiresonance operation. Despite nonlinear friction effects and additional electrical dynamics, the consideration of the ideal mechanical dynamics is completely sufficient for stiffness control. Simulations and experiments show that this yields a distinct reduction in power and energy consumption, which underlines the suitability of the control strategy.

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Section: Resultsmentioning

confidence: 99%

Section: Energy Consumption Analysismentioning

confidence: 99%

“…In [24], Coulomb, Stribeck, and viscous friction are experimentally observed at the actuator and modeled by…”

Section: Energy Consumption Analysismentioning

confidence: 99%

Section: Stiffness Controlmentioning

confidence: 99%

See 2 more Smart Citations