Presenter(s)

Pavanth Chennareddy Pavanth Kumar Reddy

Comments

Presentation: 1:15-2:30 p.m., Kennedy Union Ballroom

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Description

Over the past decades, industrial robot manipulators have expanded throughout the automation industry with a high degree of accuracy and reliability. For the safety of human beings, robots are confined to specific places with cages around them. There is a need for human-robot collaborations for many tasks which cannot be done with industrial robots. To address this issue, a new type of actuator joint has been developed, vSEA, which can servo control its joint stiffness and provide a measure of the instantaneous joint torque. These capabilities can play a crucial role in an intelligent robotic control design that can scale down the risks involved in human-robot collaboration. These soft joints have a higher bandwidth of compliance to better mitigate the effects of a collision. This device has been tested with PID. For better accuracy and repeatability, we are proposing a state feedback linearizing control for the system.

Publication Date

4-19-2023

Project Designation

Graduate Research

Primary Advisor

Raul Ordonez

Primary Advisor's Department

Electrical and Computer Engineering

Keywords

Stander Symposium, School of Engineering

State Feedback Control for Variable Stiffness Series Elastic Actuator (vSEA) joint-based 2-DoF Manipulator

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