We develop a recursive numerical algorithm to compute the inverse dynamics of robot manipulators with an arbitrary number of joints, driven by variable stiffness actuation (VSA) of the antagonistic type. The algorithm is based on Newton-Euler dynamic equations, generalized up to the fourth differential order to account for the compliant transmissions, combined with the decentralized nonlinear dynamics of the variable stiffness actuators at each joint. A variant of the algorithm can be used also for implementing a feedback linearization control law for the accurate tracking of desired link and stiffness trajectories. As in its simpler versions, the algorithm does not require dynamicmodeling in symbolic form, does not use numerical approximations, grows linearly in complexity with the number of joints, and is suitable for online feedforward and real-time feedback control. A Matlab/C code is made available.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Efficient computation of inverse dynamics and feedback linearization for VSA-based robots



    Erscheinungsdatum :

    2016-01-01



    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629



    Symbolic Computation of the Inverse Dynamics of Elastic Joint Robots

    Höpler, Robert / Thümmel, Michael | Deutsches Zentrum für Luft- und Raumfahrt (DLR) | 2004

    Freier Zugriff

    Feedback Linearization

    von Ellenrieder, Karl Dietrich | Springer Verlag | 2021


    Feedback Linearization

    Lee, Hong-Gi | Springer Verlag | 2022


    Robust Tracking Control of Aerial Robots Via a Simple Learning Strategy-Based Feedback Linearization

    Mehndiratta, Mohit / Kayacan, Erkan / Reyhanoglu, Mahmut et al. | BASE | 2020

    Freier Zugriff

    Dynamic Feedback Linearization

    Lee, Hong-Gi | Springer Verlag | 2022