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.
Force Sensor-Based Linear Actuator Stiffness Rendering Control
Lect.Notes Computer
International Conference on Intelligent Robotics and Applications ; 2023 ; Hangzhou, China July 05, 2023 - July 07, 2023
2023-10-16
12 pages
Article/Chapter (Book)
Electronic Resource
English
Actuators , Stiffness Rendering , Force Sensor Computer Science , Artificial Intelligence , Software Engineering/Programming and Operating Systems , Computer Applications , User Interfaces and Human Computer Interaction , Computer Communication Networks , Special Purpose and Application-Based Systems
Force Sensor-Based Linear Actuator Stiffness Rendering Control
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