University of Twente Student Theses
Control strategy for variable stiffness actuators in belateral teleimpedance interaction tasks
Kerkhof, T.R. (2013) Control strategy for variable stiffness actuators in belateral teleimpedance interaction tasks.
|
PDF
1MB |
| Abstract: | Teleoperated robots featuring impedance control provide a safe and flexible solution for various interaction tasks. Variable stiffness actuators cater to this control strategy with inherent mechanical impedance. This paper presents a strategy for bilateral teleimpedance control of variable stiffness actuators with the primary goal of remotely interacting with an unknown environment. Simulations and experiments on the vsaUT-II validate the control law and a haptic interface is employed to demonstrate full-system closed-loop teleoperation behaviour. |
| Item Type: | Essay (Master) |
| Faculty: | EEMCS: Electrical Engineering, Mathematics and Computer Science |
| Subject: | 53 electrotechnology |
| Programme: | Electrical Engineering MSc (60353) |
| Link to this item: | https://purl.utwente.nl/essays/69766 |
| Export this item as: | BibTeX EndNote HTML Citation Reference Manager |
Show download statistics for this publication
Show download statistics for this publicationRepository Staff Only: item control page