This work reports on the design and the feed forward stiffness control of bioinspired kinematic chains from a static and a dynamic point of view. While position control is clearly referred to common geometrical lagrangian coordinates for the considered system, in order to deal with the stiffness or compliance of the chain, especially in dynamic cases, global and less intuitive variables have to be defined and used. The advantage deriving from a similar control strategy can be important when the chain is part of a complex dynamic system or the computational resources are scarce. By defining and controlling stiffness or compliance for a certain position or trajectory, we can state that, even if the system is not continuously monitored in closed loop, a bounded perturbation cannot produce equilibrium point or trajectory variations greater than a fixed quantity. In a closed loop control strategy, the described methodology can be implemented during the time between two consecutive output sampling and feedback inputs. On the other hand, compliance control permits a kinematic chain to interact with objects without causing damages even if errors in position occur. In this work, the compliance and stiffness concepts, inspired to common reasoning in biological motor control theory, are generalized to a dynamic case and endowed with a mathematical architecture.
Skip Nav Destination
Sign In or Register for Account
ASME 2009 Dynamic Systems and Control Conference
October 12–14, 2009
Hollywood, California, USA
Conference Sponsors:
- Dynamic Systems and Control Division
ISBN:
978-0-7918-4892-0
PROCEEDINGS PAPER
Stiffness and Compliance Control in Dynamical Systems Driven by Muscle-Like Actuators
Federico Lorussi
,
Federico Lorussi
University of Pisa, Pisa, Italy
Search for other works by this author on:
Claudia Caudai
,
Claudia Caudai
University of Pisa, Pisa, Italy
Search for other works by this author on:
Danilo De Rossi
,
Danilo De Rossi
University of Pisa, Pisa, Italy
Search for other works by this author on:
Stefano Galatolo
Stefano Galatolo
University of Pisa, Pisa, Italy
Search for other works by this author on:
Federico Lorussi
University of Pisa, Pisa, Italy
Claudia Caudai
University of Pisa, Pisa, Italy
Danilo De Rossi
University of Pisa, Pisa, Italy
Stefano Galatolo
University of Pisa, Pisa, Italy
Paper No:
DSCC2009-2640, pp. 73-80; 8 pages
Published Online:
September 16, 2010
Citation
Lorussi, F, Caudai, C, De Rossi, D, & Galatolo, S. "Stiffness and Compliance Control in Dynamical Systems Driven by Muscle-Like Actuators." Proceedings of the ASME 2009 Dynamic Systems and Control Conference. ASME 2009 Dynamic Systems and Control Conference, Volume 1. Hollywood, California, USA. October 12–14, 2009. pp. 73-80. ASME. https://doi.org/10.1115/DSCC2009-2640
Download citation file:
Sign In
3
Views
0
Citations
Related Proceedings Papers
Related Articles
Dahl Model-Based Hysteresis Compensation and Precise Positioning Control of an XY Parallel Micromanipulator With Piezoelectric Actuation
J. Dyn. Sys., Meas., Control (July,2010)
Boosting Speed and Accuracy in Precision Motion Control
Mechanical Engineering (September,2018)
Displacement Control of Flexible Structures Using Electrohydraulic Servo-Actuators
J. Dyn. Sys., Meas., Control (March,1985)
Related Chapters
Motion Prediction with Gaussian Process Dynamical Models
International Conference on Information Technology and Computer Science, 3rd (ITCS 2011)
Clinical issues and experience
Mechanical Blood Trauma in Circulatory-Assist Devices
Breathing and Living Walls
Advanced Energy Efficient Building Envelope Systems