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 Sti�ness Actuator. The controller is designed such that the variable sti�ness joint acts as a virtual damper that absorbs the kinetic energy of the moving object. The virtual damping and the output sti�ness of the variable sti�ness actuator are the control variables. Two controllers were designed in this work. In the �rst controller, the damping coe�cient of the virtual damper and sti�ness 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 sti�ness actuator vsaUT-II. For the second controller, the damping coe�cient of the virtual controller as well as the sti�ness of the joint were varied along the course of catching. Considering the same control goal which was used in the �rst 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 sti�ness 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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