OPTIMAL DESIGN AND CONTROL OF VARIABLE IMPEDANCE ACTUATED ROBOTS
Loading...
Date
2019
Authors
Journal Title
Journal ISSN
Volume Title
Publisher
Nazarbayev University School of Engineering and Digital Sciences
Abstract
In this thesis, the challenging problems of design and control of variable
impedance actu ated robots are considered. The difficulties arise due to nonlinear
dynamics, physical con straints of the system, and presence of additional
actuators and nonlinear elastic/damping elements. As a result, we propose a
control methodology, which takes into account system constraints and input
bounds, guarantees system utilization to its full potential, and closely achieves the
system’s target performance level. The thesis consists of seven chapters. The
first chapter gives a broad introduction to the problem and provides the literature
review. For example, differences between position-controlled robots and variable
impedance actu ated robots are discussed, their corresponding advantages and
disadvantages are presented and compared, past design and control solutions
are reviewed, and the hypothesis is de scribed. The second chapter covers the
proposed closed-loop control methodology for variable stiffness actuated robots.
This chapter covers the general idea behind closed-loop control of variable
impedance actuated robots using model predictive control, and it also includes
simulations and experimental results. The augmentation of the variable stiffness
robots with reaction wheels is described in chapter three. Specifically, the
advantages of using reaction wheels to actuate the variable stiffness robots are
discussed. This is fol lowed by a discussion of time-optimal control of variables
stiffness robots in chapter four. This chapter presents and describes two
time-optimal control problems: minimum time for target performance and
minimum time for maximum performance. In chapter five energy optimal control
of variable stiffness robots is described. In particular, three energy-optimal control
problems are defined: maximum performance with limited energy, target perfor
mance with minimum energy and maximum performance with minimum energy.
Then chapter six contains successive linearization-based model predictive control
of variable stiffness robots. The main idea of this chapter is that linearization
might be beneficial for model predictive control of nonlinear systems due to a
simpler model and the resulting smaller sampling time. Finally, chapter seven
describes the potential impact of our research in the field of robotics and society.
Description
Keywords
Type of access: Open
Citation
Zhakatayev, A. (2019). Optimal Design and Control of Variable Impedance Actuated Robots. Nazarbayev University School of Engineering and Digital Sciences