TY - GEN
T1 - Energy Localization in Spring-Motor Coupling System by Switching Mass Control
AU - Miyahara, Ken
AU - Katsura, Seiichiro
N1 - Funding Information:
This research was partially supported by the Ministry of Internal Affairs and Communications, Strategic Information and Communications R&D Promotion Program (SCOPE), 201603011.
Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - The purpose of this research is to control energy localization in spring-motor coupling system. Effective use of springs is important for robots to achieve high speed motion. In particular, by localizing the energy to the part where the robot acts on environment (for example, hands and feet), tasks can be efficiently performed. Therefore, we propose an energy ratio control to achieve energy localization in spring-motor coupling system. For clarity and practicality, the energy ratio control is based on mass control that has robust acceleration control system with disturbance observer. In addition, incorporating energy control into the entire control system allows for energy regulation. For verification, simulation and experiments of the proposed method was conducted.
AB - The purpose of this research is to control energy localization in spring-motor coupling system. Effective use of springs is important for robots to achieve high speed motion. In particular, by localizing the energy to the part where the robot acts on environment (for example, hands and feet), tasks can be efficiently performed. Therefore, we propose an energy ratio control to achieve energy localization in spring-motor coupling system. For clarity and practicality, the energy ratio control is based on mass control that has robust acceleration control system with disturbance observer. In addition, incorporating energy control into the entire control system allows for energy regulation. For verification, simulation and experiments of the proposed method was conducted.
KW - energy control
KW - energy localization
KW - mass control
KW - spring-motor coupling system
UR - http://www.scopus.com/inward/record.url?scp=85158125534&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85158125534&partnerID=8YFLogxK
U2 - 10.1109/ICM54990.2023.10101963
DO - 10.1109/ICM54990.2023.10101963
M3 - Conference contribution
AN - SCOPUS:85158125534
T3 - Proceedings - 2023 IEEE International Conference on Mechatronics, ICM 2023
BT - Proceedings - 2023 IEEE International Conference on Mechatronics, ICM 2023
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2023 IEEE International Conference on Mechatronics, ICM 2023
Y2 - 15 March 2023 through 17 March 2023
ER -