This paper proposes a new approach to the design of a robot actuator with physically variable stiffness. The proposed approach leverages the dynamic characteristics inherent in a pneumatic actuator, which behaves in essence as a series elastic actuator. By replacing the four-way servovalve used to control a typical pneumatic actuator with a pair of three-way valves, the stiffness of the series elastic component can be modulated independently of the actuator output force. Based on this notion, the authors propose a control approach for the simultaneous control of actuator output force and stiffness. Since the achievable output force and stiffness are coupled and configuration-dependent, the authors also present a control law that provides either maximum or minimum actuator output stiffness for a given displacement and desired force output. The general control and maximum/minimum stiffness approaches are experimentally demonstrated and shown to provide high fidelity control of force and stiffness, and additionally shown to provide a factor of 6 dynamic range in stiffness.
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July 2007
Technical Papers
Simultaneous Force and Stiffness Control of a Pneumatic Actuator
Xiangrong Shen,
Xiangrong Shen
Department of Mechanical Engineering,
Vanderbilt University
, Nashville, TN 37235
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Michael Goldfarb
Michael Goldfarb
Department of Mechanical Engineering,
Vanderbilt University
, Nashville, TN 37235
Search for other works by this author on:
Xiangrong Shen
Department of Mechanical Engineering,
Vanderbilt University
, Nashville, TN 37235
Michael Goldfarb
Department of Mechanical Engineering,
Vanderbilt University
, Nashville, TN 37235J. Dyn. Sys., Meas., Control. Jul 2007, 129(4): 425-434 (10 pages)
Published Online: January 5, 2007
Article history
Received:
January 9, 2006
Revised:
January 5, 2007
Citation
Shen, X., and Goldfarb, M. (January 5, 2007). "Simultaneous Force and Stiffness Control of a Pneumatic Actuator." ASME. J. Dyn. Sys., Meas., Control. July 2007; 129(4): 425–434. https://doi.org/10.1115/1.2745850
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