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Model Matching Control for an Active-Passive Variable Stiffness Actuator
Po-Jen Cheng, Han-Pang Huang
Pages - 48 - 64     |    Revised - 31-08-2015     |    Published - 30-09-2015
Volume - 6   Issue - 3    |    Publication Date - September 2015  Table of Contents
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KEYWORDS
Serial Elastic Actuator, Bond Graph, Model Matching Control.
ABSTRACT
In order to increase the safety performance between human and the robot, the variable stiffness mechanism is commonly adopted due to its flexibility in various tasks. However, it makes the actuator more complex and increases the weight of the system. To deal with this problem, the active-passive variable stiffness elastic actuator (APVSEA) [1] and the variable stiffness control that uses a model matching control (MMC) with bond graph are proposed in this article. The APVSEA is modeled as a non-back drivable bond graph model. Combining the MMC with the non-back drivable bond graph model, the overall system can achieve active stiffness control. The simulations and the experiments show good control performance. They prove that the proposed method can achieve active stiffness control well. In the future, the proposed method can also be applied to the robot arm and exoskeletons for balancing safety and the control performance.
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Mr. Po-Jen Cheng
National Taiwan Univerisy - Taiwan
u9014028@gmail.com
Mr. Han-Pang Huang
National Taiwan Univerisy - Taiwan