Modeling and design of robotic systems having spring-damper actuators
Paper i proceeding, 2000

The role of inherent dynamics for the improvement of control strategies of robotic systems is studied. A mathematical formulation of the optimal control problem that is suitable for this investigation is proposed. In solving this problem closed-form expressions have been obtained for the optimal control strategies for n degrees-of-freedom robotic systems with passive (unpowered) drives and no restrictions upon their controlling stimuli, and with non-linear viscoelastic spring-damper actuators. The obtained results can be used in designing optimal spring-damper-like passive drives for robotic systems.


Viktor Berbyuk

Chalmers, Tillämpad mekanik, Dynamik

Anders E Boström

Chalmers, Tillämpad mekanik, Dynamik

Bo Å Peterson

Chalmers, Tillämpad mekanik, Dynamik

Proceedings of the 7th Mechatronics Forum International Conference, 6-8 September 2000, Atlanta, Georgia, USA, PERGAMON, 2000.