Modeling Robotic Manipulators Powered by Variable Stiffness Actuators: A Graph-Theoretic and Port-Hamiltonian Formalism

Authors

Stefan S. Groothuis, Stefano Stramigioli, Raffaella Carloni

Abstract

This paper proposes a modeling method for generic compliant robotic manipulators. It is based on graph theory and the port-Hamiltonian formalism, which allows a modular approach to the interconnection of rigid bodies with compliant actuators by means of kinematic pairs. This modularity enables a simple and straight-forward adaption the model when a manipulator’s actuator morphology is changed. An example of a spatial three degree-of-freedom manipulator shows that this modeling method is more suitable for modeling changes in actuator placement than the traditional Euler–Lagrange method.

Citation

• Journal: IEEE Transactions on Robotics
• Year: 2017
• Volume: 33
• Issue: 4
• Pages: 807–818
• Publisher: Institute of Electrical and Electronics Engineers (IEEE)
• DOI: 10.1109/tro.2017.2668385

BibTeX

@article{Groothuis_2017,
  title={{Modeling Robotic Manipulators Powered by Variable Stiffness Actuators: A Graph-Theoretic and Port-Hamiltonian Formalism}},
  volume={33},
  ISSN={1941-0468},
  DOI={10.1109/tro.2017.2668385},
  number={4},
  journal={IEEE Transactions on Robotics},
  publisher={Institute of Electrical and Electronics Engineers (IEEE)},
  author={Groothuis, Stefan S. and Stramigioli, Stefano and Carloni, Raffaella},
  year={2017},
  pages={807--818}
}

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