Closed-Loop Control of Variable Stiffness Actuated Robots via Nonlinear Model Predictive Control

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dc.contributor.authorZhakatayev, Altay
dc.contributor.authorRubagotti, Matteo
dc.contributor.authorVarol, Huseyin Atakan
dc.date.accessioned2017-11-08T04:45:18Z
dc.date.available2017-11-08T04:45:18Z
dc.date.issued2015-04-10
dc.description.abstractVariable 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.ru_RU
dc.identifier.citationZhakatayev Altay et al.(>2), 2015(April 10), Closed-Loop Control of Variable Stiffness Actuated Robots via Nonlinear Model Predictive Control, IEEE Access, vol.3ru_RU
dc.identifier.urihttp://nur.nu.edu.kz/handle/123456789/2753
dc.language.isoenru_RU
dc.publisherIEEE Accessru_RU
dc.rightsOpen Access - the content is available to the general publicru_RU
dc.rightsAttribution-NonCommercial-ShareAlike 3.0 United States*
dc.rights.urihttp://creativecommons.org/licenses/by-nc-sa/3.0/us/*
dc.subjectrobot manipulationru_RU
dc.subjectvariable stiffness actuationru_RU
dc.subjectmodel predictive controlru_RU
dc.subjectoptimization algorithmsru_RU
dc.subjectembedded optimizationru_RU
dc.subjectResearch Subject Categories::NATURAL SCIENCES::Physicsru_RU
dc.titleClosed-Loop Control of Variable Stiffness Actuated Robots via Nonlinear Model Predictive Controlru_RU
dc.typeArticleru_RU

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