Document Type

Article

Publication Date

2014

Publication Title

IFAC Proceedings Volumes

Abstract

A framework for modeling and control is introduced for robotic manipulators with a number of energetically self-contained semiactive joints. The control approach consists of three steps. First, a virtual control design is conducted by any suitable means, assuming a fully-actuated system. Then, virtual control inputs are matched by a parameter modulation law. Finally, the storage dynamics are shaped using design parameters. Storage dynamics coincide with the system's internal dynamics under exact virtual control matching. An internal energy balance equation and associated self-powered operation condition are given for the semiactive joints. This condition is a structural characteristic of the system and independent of the control law. Moreover, the internal energy balance equation is independent of the energy storage parameter (capacitance), which adds flexibility to the approach. An external energy balance equation is also given that can be used to calculate the work required from the active joints. A simulation example using a 3-dof prosthesis test robot illustrates the concepts.

Comments

Proceedings of the 19th World Congress The International Federation of Automatic Control Cape Town, South Africa. August 24-29, 2014

DOI

10.3182/20140824-6-ZA-1003.00332

Version

Postprint

Volume

47

Issue

3

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