Closed-Loop Control of Variable Stiffness Actuated Robots via Nonlinear Model Predictive Control
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Date
2015-04-10
Authors
Zhakatayev, Altay
Rubagotti, Matteo
Varol, Huseyin Atakan
Journal Title
Journal ISSN
Volume Title
Publisher
IEEE Access
Abstract
Variable stiffness actuation has recently attracted great interest in robotics, especially in
areas involving a high degree of human robot interaction. After investigating various design approaches for variable stiffness actuated (VSA) robots, currently the focus is shifting to the control of these systems. Control of VSA robots is challenging due to the intrinsic nonlinearity of their dynamics and the need to satisfy constraints on input and state variables.Contrary to the partially open-loop state-of-the-art approaches, in this paper, we present a close-loop control framework for VSA robots leveraging recent increases in computational resources and advances in optimization algorithms. In particular, we generate reference trajectories by means of open-loop optimal control, and track these trajectories via nonlinear model predictive control in a closed-loop manner. In order to show the advantages of our proposed scheme with respect to the previous (partially open-loop) ones, extensive simulation and real-world experiments were conducted using a two link planar manipulator for a ball throwing task. The results of these experiments indicate that the closed-loop scheme outperforms the partially open loop one due to its ability to compensate for model uncertainties and external disturbances, while satisfying the imposed constraints.
Description
Keywords
robot manipulation, variable stiffness actuation, model predictive control, optimization algorithms, embedded optimization, Research Subject Categories::NATURAL SCIENCES::Physics
Citation
Zhakatayev Altay et al.(>2), 2015(April 10), Closed-Loop Control of Variable Stiffness Actuated Robots via Nonlinear Model Predictive Control, IEEE Access, vol.3