A Stiffness-Fault-Tolerant Control Strategy for a Redundant Elastic Actuator
Velasco Guillen RJ, Furnemont R, Verstraten T, Beckerle P (2022)
Publication Type: Conference contribution
Publication year: 2022
Publisher: Institute of Electrical and Electronics Engineers Inc.
Book Volume: 2022-July
Pages Range: 1360-1365
Conference Proceedings Title: IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
Event location: Sapporo, JPN
ISBN: 9781665413084
DOI: 10.1109/AIM52237.2022.9863361
Abstract
Elastic actuators show advantages in energy efficiency and safety in human-robot interaction. However, such actuators might be subject to faults due to their complexity, particularly in elastic and kinematic elements. We present a stiffness-fault-tolerant control strategy for a redundant actuator with multiple elastic actuation units. The control scheme is capable of detecting and compensating for stiffness changes in individual elastic elements. We develop the dynamics of the actuator and a model-based impedance control scheme. The obtained closed-loop dynamic interaction behavior of the system and its stability is analyzed. Oscillatory trajectory simulations are used to evaluate the control strategy. Results show that the controller is capable of tracking a reference trajectory with desired interaction impedance behavior under fault conditions and interaction disturbances, while exploiting redundancy to perform load compensation.
Authors with CRIS profile
Rodrigo Jose Velasco Guillen
Lehrstuhl für Autonome Systeme und Mechatronik
Philipp Beckerle
Lehrstuhl für Autonome Systeme und Mechatronik
Involved external institutions
Belgium (BE)How to cite
APA:
Velasco Guillen, R.J., Furnemont, R., Verstraten, T., & Beckerle, P. (2022). A Stiffness-Fault-Tolerant Control Strategy for a Redundant Elastic Actuator. In IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM (pp. 1360-1365). Sapporo, JPN: Institute of Electrical and Electronics Engineers Inc..
MLA:
Velasco Guillen, Rodrigo Jose, et al. "A Stiffness-Fault-Tolerant Control Strategy for a Redundant Elastic Actuator." Proceedings of the 2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2022, Sapporo, JPN Institute of Electrical and Electronics Engineers Inc., 2022. 1360-1365.
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