Abstract
This paper proposes a motion control method of mechanical systems utilizing adaptive stiffness optimization for energy saving. The controlled systems in this paper are assumed to have linear dynamics and to have adjustable stiffness devices. To realize the energy saving control systems even when desired motions include multi frequency component, a new stiffness optimization concept similar to resonance is proposed. We mathematically prove the effects of the stiffness optimization and stability of the controlled systems. The proposed method can achieve trajectory tracking with high accuracy and reduce energy from actuators as much as possible. An advantage of the proposed method is that the controller works well without using parameters of the controlled systems. Simulation results demonstrate the effectiveness of the proposed method.
