Abstract
This paper proposes a method to determine the optimal value of design parameters in robots driven by variable-stiffness actuators. The method consists of setting up a nonlinear optimization problem, the solution of which determines the optimal control sequence, and, at the same time, the optimal values of the parameters. As a case study, we analyze a ball-throwing problem for a two-link elbow manipulator actuated by antagonistic quadratic springs, and show results for different configurations. Even if similar methods have already been proposed, mainly in process control, this approach is novel when applied to robots, and could lead to an overall improvement of their design, exploiting numerical optimization tools, which, in the last years, have become faster and more reliable.
| Original language | English |
|---|---|
| Title of host publication | 2015 European Control Conference, ECC 2015 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 1100-1105 |
| Number of pages | 6 |
| ISBN (Print) | 9783952426937 |
| DOIs | |
| Publication status | Published - Nov 16 2015 |
| Event | European Control Conference, ECC 2015 - Linz, Austria Duration: Jul 15 2015 → Jul 17 2015 |
Other
| Other | European Control Conference, ECC 2015 |
|---|---|
| Country | Austria |
| City | Linz |
| Period | 7/15/15 → 7/17/15 |
Fingerprint
ASJC Scopus subject areas
- Control and Systems Engineering
Cite this
Integrated optimal design and control of variable stiffness actuated robots. / Zhakatayev, Altay; Rubagotti, Matteo; Varol, H. Atakan.
2015 European Control Conference, ECC 2015. Institute of Electrical and Electronics Engineers Inc., 2015. p. 1100-1105 7330687.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Integrated optimal design and control of variable stiffness actuated robots
AU - Zhakatayev, Altay
AU - Rubagotti, Matteo
AU - Varol, H. Atakan
PY - 2015/11/16
Y1 - 2015/11/16
N2 - This paper proposes a method to determine the optimal value of design parameters in robots driven by variable-stiffness actuators. The method consists of setting up a nonlinear optimization problem, the solution of which determines the optimal control sequence, and, at the same time, the optimal values of the parameters. As a case study, we analyze a ball-throwing problem for a two-link elbow manipulator actuated by antagonistic quadratic springs, and show results for different configurations. Even if similar methods have already been proposed, mainly in process control, this approach is novel when applied to robots, and could lead to an overall improvement of their design, exploiting numerical optimization tools, which, in the last years, have become faster and more reliable.
AB - This paper proposes a method to determine the optimal value of design parameters in robots driven by variable-stiffness actuators. The method consists of setting up a nonlinear optimization problem, the solution of which determines the optimal control sequence, and, at the same time, the optimal values of the parameters. As a case study, we analyze a ball-throwing problem for a two-link elbow manipulator actuated by antagonistic quadratic springs, and show results for different configurations. Even if similar methods have already been proposed, mainly in process control, this approach is novel when applied to robots, and could lead to an overall improvement of their design, exploiting numerical optimization tools, which, in the last years, have become faster and more reliable.
UR - http://www.scopus.com/inward/record.url?scp=84963829744&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84963829744&partnerID=8YFLogxK
U2 - 10.1109/ECC.2015.7330687
DO - 10.1109/ECC.2015.7330687
M3 - Conference contribution
SN - 9783952426937
SP - 1100
EP - 1105
BT - 2015 European Control Conference, ECC 2015
PB - Institute of Electrical and Electronics Engineers Inc.
ER -