University of Twente Student Theses
Controller design of a variable stiffness joint for catching a moving object
Kumle, J. (2015) Controller design of a variable stiffness joint for catching a moving object.
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| Abstract: | In this paper a control method is designed in order to catch a moving object by means of a robotic joint that implements a variable stiffness actuator (VSA). The controller acts as a virtual damper for absorbing the kinetic energy of the object. The gain of the virtual damping and the physical stiffness of the VSA are the control variable. To obtain a critically damped system the damping gain is scheduled on both, the physical stiffness and the inertia of the system. By changing the stiffness of the VSA, the internal deflection of the VSA can be controlled. Experiments on the rotational variable stiffness actuator vsaUT-II validate the principal functionality of the method. |
| Item Type: | Essay (Bachelor) |
| Faculty: | EEMCS: Electrical Engineering, Mathematics and Computer Science |
| Programme: | Electrical Engineering BSc (56953) |
| Link to this item: | https://purl.utwente.nl/essays/93894 |
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