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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.

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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:http://purl.utwente.nl/essays/69766
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