Time Optimal Control of Variable Stiffness Actuated Systems
- Submitting institution
-
The University of Leicester
- Unit of assessment
- 12 - Engineering
- Output identifier
- 2415
- Type
- D - Journal article
- DOI
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10.1109/TMECH.2017.2671371
- Title of journal
- IEEE-ASME Transactions on Mechatronics
- Article number
- -
- First page
- 1247
- Volume
- 22
- Issue
- 3
- ISSN
- 1941-014X
- Open access status
- Compliant
- Month of publication
- February
- Year of publication
- 2017
- URL
-
-
- Supplementary information
-
-
- Request cross-referral to
- -
- Output has been delayed by COVID-19
- No
- COVID-19 affected output statement
- -
- Forensic science
- No
- Criminology
- No
- Interdisciplinary
- No
- Number of additional authors
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2
- Research group(s)
-
-
- Proposed double-weighted
- No
- Reserve for an output with double weighting
- No
- Additional information
- The paper introduces a framework for design and numerical solution of time-optimal control problems for variable-stiffness-actuated (VSA) systems. Two time-optimal control problems are defined, and methods for solving them are presented based on existing numerical software tools for nonlinear optimization. Two experimental case studies, focusing on ball-throwing tasks with antagonistically actuated VSA systems, are used to test the presented methods and show their validity. Task planning and closed-loop control of these systems pose many challenges due to their complicated structure and the need of satisfying many constraints during task execution. In particular, minimum-time control was never considered for these systems.
- Author contribution statement
- -
- Non-English
- No
- English abstract
- -