论文标题
串联弹性致动的被动实现：植物和控制器动力学对触觉渲染性能的影响
Passive Realizations of Series Elastic Actuation: Effects of Plant and Controller Dynamics on Haptic Rendering Performance
论文作者
论文摘要
我们在闭环控制下介绍了最小的被动物理当量（阻尼）弹性致动（S（D）EA），以确定不同植物参数和控制器增益对系统闭环性能的影响，并帮助建立对被动性界限的直观理解。此外，我们明确地得出了这些被动物理等效物的可行性条件，并将其与速度恢复的阻抗控制（VSIC）建立关系的S（d）EA的必要条件进行比较。通过被动物理当量，我们严格地比较了不同植物动力学（例如海洋和SDEA）对系统性能的影响。我们证明，被动物理当量使控制器获得明确的效果，并为有效的阻抗分析建立了自然手段。我们还表明，被动物理当量通过同时考虑（可能是负）控制器收益和植物参数来促进共同设计思维。当耦合到正确设计的植物动力学时，我们证明了负控制器获得的有用性。最后，我们提供了VSIC下s（d）ea的触觉渲染性能的理论结果和表征的实验验证。
We introduce minimal passive physical equivalents of series (damped) elastic actuation (S(D)EA) under closed-loop control to determine the effect of different plant parameters and controller gains on the closed-loop performance of the system and to help establish an intuitive understanding of the passivity bounds. Furthermore, we explicitly derive the feasibility conditions for these passive physical equivalents and compare them to the necessary and sufficient conditions for the passivity of S(D)EA under velocity sourced impedance control (VSIC) to establish their relationship. Through the passive physical equivalents, we rigorously compare the effect of different plant dynamics (e.g., SEA and SDEA) on the system performance. We demonstrate that passive physical equivalents make the effect of controller gains explicit and establish a natural means for effective impedance analysis. We also show that passive physical equivalents promote co-design thinking by enforcing simultaneous and unbiased consideration of (possibly negative) controller gains and plant parameters. We demonstrate the usefulness of negative controller gains when coupled to properly designed plant dynamics. Finally, we provide experimental validations of our theoretical results and characterizations of the haptic rendering performance of S(D)EA under VSIC.
