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Resumen: Los actuadores de rigidez variable son dispositivos que permiten cambiar la posiciÃ³n y rigidez articular de un robot en forma simultÃ¡nea. En los Ãºltimos aÃ±os se han diseÃ±ado y desarrollado muchos dispositivos de este tipo, con la esperanza de favorecer la seguridad en la interacciÃ³n humano-robot y mejorar el rendimiento dinÃ¡mico de los robots. En este artÃ­culo se presenta el desarrollo de un controlador para un actuador de rigidez variable de configuraciÃ³n serie. La estrategia de control se basa en la linealizaciÃ³n por realimentaciÃ³n y el ajuste de dos controladores lineales. Esta estrategia permite el seguimiento de referencias de posiciÃ³n y rigidez articular de forma simultÃ¡nea y desacoplada. AdemÃ¡s, se realizan simulaciones en las que se incorpora este dispositivo dentro del robot asistencial ASIBOT, a fin de evaluar el desempeÃ±o del controlador, los cambios en la dinÃ¡mica del robot y las posibles ventajas que tendrÃ¡ la inclusiÃ³n del mismo a nivel de seguridad en la interacciÃ³n fÃ­sica humano-robot. Abstract: The variable stiffness actuators are devices that change the position and stiffness of a robot simultaneously. In recent years have been designed and developed many devices of this type, hoping to ensure safety in human-robot interaction and improve the dynamic performance of robots. In this article, we present the control of a variable stiffness actuator with serial conï¬guration. The control strategy is based on feedback linearization and adjustment of two linear controllers. This allows the control, independently, of the stiffness and the equilibrium position of the joint. Finally, the behavior of this device within the assistive robot ASIBOT, is simulated in order to assess: the controller performance, changes in the dynamics of the robot and possible advantages of a level of safety during physical interaction human-robot. Palabras clave: control de robot, sistemas no lineales, linealizaciÃ³n por realimentaciÃ³n, interacciÃ³n hombre/mÃ¡quina., Keywords: robot control, nonlinear systems, feedback linearization, man/machine interatio

Control desacoplado de un actuador de rigidez variable para robots asistenciales