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Title: Time Optimal Control of Variable Stiffness Actuated Systems
Authors: Zhakatayev, Altay
Rubagotti, Matteo
Varol, Huseyin Atakan
First Published: 17-Feb-2017
Publisher: Institute of Electrical and Electronics Engineers (IEEE), ASME Dynamic Systems and Control Division
Citation: IEEE-ASME Transactions on Mechatronics, 2017, PP(99)
Abstract: Variable-stiffness actuation exhibits promising features for obtaining human-like behavior and safer human robot physical interaction. Task planning and closed-loop control of these systems pose many challenges due to their complicated structure, and the need of satisfying many constraints during task execution. This paper introduces a framework for the design and numerical solution of time-optimal control problems for VSA systems. Two different time-optimal control problems, namely “minimum time for target performance” and “minimum time for maximum performance”, are formally defined, and methods for solving them are presented based on existing numerical software tools for nonlinear optimization. Two experimental case studies, focusing on ball throwing tasks with antagonistically-actuated VSA systems, are used to test the presented methods and show their validity.
DOI Link: 10.1109/TMECH.2017.2671371
ISSN: 1083-4435
eISSN: 1941-014X
Version: Post-print
Status: Peer-reviewed
Type: Journal Article
Rights: Copyright © 2017, Institute of Electrical and Electronics Engineers (IEEE), ASME Dynamic Systems and Control Division. Deposited with reference to the publisher’s open access archiving policy.
Appears in Collections:Published Articles, Dept. of Engineering

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