Energy Localization in Spring-Motor Coupling System by Switching Mass Control

Ken Miyahara, S. Katsura
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Abstract

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.
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开关质量控制在弹簧-电机耦合系统中的能量定位
本研究的目的是控制弹簧-电机耦合系统的能量局部化。有效地利用弹簧对机器人实现高速运动至关重要。特别是,通过将能量定位到机器人与环境作用的部分(例如手和脚),可以有效地执行任务。因此,我们提出了一种能量比控制来实现弹簧-电机耦合系统的能量局部化。为了清晰和实用,能量比控制基于质量控制,具有鲁棒加速度控制系统和扰动观测器。此外,将能源控制纳入整个控制系统可以实现能源调节。为验证该方法的有效性,进行了仿真和实验。
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