Modeling robotic manipulators powered by variable stiffness actuators: A graph-theoretic and port-hamiltonian formalism

Stefan S. Groothuis; Stefano Stramigioli; Raffaella Carloni

doi:10.1109/TRO.2017.2668385

Modeling robotic manipulators powered by variable stiffness actuators: A graph-theoretic and port-hamiltonian formalism

Stefan S. Groothuis^*, Stefano Stramigioli, Raffaella Carloni

^*Corresponding author for this work

Research output: Contribution to journal › Article › Academic › peer-review

14 Citations (Scopus)

Abstract

This paper proposes a modeling method for generic compliant robotic manipulators. It is based on graph theory and the port-Hamiltonian formalism, which allows a modular approach to the interconnection of rigid bodies with compliant actuators by means of kinematic pairs. This modularity enables a simple and straight-forward adaption the model when a manipulator's actuator morphology is changed. An example of a spatial three degree-of-freedom manipulator shows that this modeling method is more suitable for modeling changes in actuator placement than the traditional Euler-Lagrange method.

Original language	English
Article number	7875152
Pages (from-to)	807-818
Number of pages	12
Journal	IEEE Transactions on Robotics
Volume	33
Issue number	4
DOIs	https://doi.org/10.1109/TRO.2017.2668385
Publication status	Published - 1-Aug-2017
Externally published	Yes

Keywords

Compliant manipulators
modeling
variable stiffness actuators (VSA)

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Modeling robotic manipulators powered by variable stiffness actuators: A graph-theoretic and port-hamiltonian formalism

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Keywords

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