Adaptive impedance control of a variable stiffness actuator

摘要

This paper proposes an optimal impedance control method for a variable stiffness actuator (VSA), in which a variable stiffness mechanism and an actuator are aligned in series. First, we introduce a circuit expression of the robotic system and provide a unified framework to determine an optimal index of robots driven by VSAs, irrespective of the presence or absence of the environment. Next, we design a torque controller for a one-degree-of-freedom (DOF) robot and find the optimal condition of the stiffness in the VSA for a given task. Then, we design a stiffness control law for the VSA exploiting the intrinsic indivisible property between motion and passive impedance. This stiffness control law adaptively tunes the passive stiffness to minimize the energy consumption without defining any explicit desired impedance, which is usually required in impedance controllers. The stability of the closed loop system is proved using Lyapunov’s analysis. Simulations and experimental results validate the effectiveness of the proposed method and the robustness in response to parameter changes.