Different stiffness on the actuator can broaden its range of applications and improve its motion control performance. Precise stiffness rendering is advantageous for improving collision safety. However, there are mechanical impedance and friction, which will affect system stiffness. This study applies a force sensor to measure them directly and compensate them by the motor. To make the actuator exhibit ideal stiffness, a PD controller is introduced for stiffness rendering. Simulation and experimental results verify that this method can accurately render stiffness less than the mechanical stiffness for parallel-structured linear actuators.


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    Titel :

    Force Sensor-Based Linear Actuator Stiffness Rendering Control


    Weitere Titelangaben:

    Lect.Notes Computer


    Beteiligte:
    Yang, Huayong (Herausgeber:in) / Liu, Honghai (Herausgeber:in) / Zou, Jun (Herausgeber:in) / Yin, Zhouping (Herausgeber:in) / Liu, Lianqing (Herausgeber:in) / Yang, Geng (Herausgeber:in) / Ouyang, Xiaoping (Herausgeber:in) / Wang, Zhiyong (Herausgeber:in) / Chen, Han (Autor:in) / Dai, Junjie (Autor:in)

    Kongress:

    International Conference on Intelligent Robotics and Applications ; 2023 ; Hangzhou, China July 05, 2023 - July 07, 2023



    Erscheinungsdatum :

    16.10.2023


    Format / Umfang :

    12 pages




    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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