State Feedback Control for Variable Stiffness Series Elastic Actuator (vSEA) joint-based 2-DoF Manipulator
Pavanth Chennareddy Pavanth Kumar Reddy
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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.
Primary Advisor's Department
Electrical and Computer Engineering
Stander Symposium, School of Engineering
"State Feedback Control for Variable Stiffness Series Elastic Actuator (vSEA) joint-based 2-DoF Manipulator" (2023). Stander Symposium Projects. 3107.
Presentation: 1:15-2:30 p.m., Kennedy Union Ballroom