Exploiting Variable Physical Damping
نویسندگان
چکیده
Recent work in the field of robotics optimal control has focused on designing and employing variable impedance actuators. Such actuators provide a high dynamic range and fast response. Until now, impedance modulation has been restricted to physical stiffness alone, while its other components, such as damping, are set to a fixed value. In this work the influence of introducing variable damping is investigated. The study sets out to analyse the direct effects of introducing a variable damping command on the cost and accuracy of the task. It also investigates how damping performs in comparison to the previously varied impedance component, stiffness. A detailed overview of the theory, based on the previous work with variable impedance actuators is given. The design, implementation and the outcomes obtained are presented, analysed and discussed. The results obtained are novel and significant, motivating future investigations into the subject. Several suggestions regarding the next direction are also formulated.
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