University of Twente Student Theses


Control of a variable stiffness joint for catching a moving object

Bhole, A.A. (2017) Control of a variable stiffness joint for catching a moving object.

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Abstract:This work presents a controller design to catch a moving object using a Variable Stiffness Actuator. The controller is designed such that the variable stiffness joint acts as a virtual damper that absorbs the kinetic energy of the moving object. The virtual damping and the output stiffness of the variable stiffness actuator are the control variables. Two controllers were designed in this work. In the first controller, the damping coefficient of the virtual damper and stiffness of the link joint were kept constant during the course of catching. A major part of this work was done in continuation with the work performed by Julian [10]. The results of this procedure are experimentally validated on the rotational variable stiffness actuator vsaUT-II. For the second controller, the damping coefficient of the virtual controller as well as the stiffness of the joint were varied along the course of catching. Considering the same control goal which was used in the first controller design, an Optimal Control problem was formulated. The two controllers were compared in simulations. It was observed that varying the parameters of damping and stiffness provides a betterment in the performance by dampening the motion of the moving object at a faster rate.
Item Type:Essay (Bachelor)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Programme:Electrical Engineering BSc (56953)
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