Open AccessStiffness control of a robotic arm using robust fixed point transformations
Author(s) -
Teréz A. Várkonyi,
József K. Tar,
Imre J. Rudas
Publication year - 2016
Language(s) - English
Resource type - Conference proceedings
DOI - 10.7567/jjapcp.4.011611
Subject(s) - stiffness , computer science , robotic arm , robot , control theory (sociology) , surprise , energy consumption , control (management) , robust control , power consumption , fixed point , power (physics) , tracking (education) , control engineering , control system , engineering , artificial intelligence , mathematics , structural engineering , physics , electrical engineering , social psychology , pedagogy , quantum mechanics , mathematical analysis , psychology
Nowadays, energy consumption of electronic systems is a very important question. Much money and time can be saved with a well-designed system, where the depletion is minimal. In this paper, the power usage of the arm of a NAO Next Gen robot is optimized by controlling dynamically the stiffness of its motor. The control strategy is based on Robust Fixed Point Transformations (RFPT). The results show that the proposed control method can reduce the power usage significantly, and as a surprise, it can reduce the inaccuracy of the tracking caused by the unpunctual sensors of the robot.
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