Study of Dynamic Performance and Control Strategy of Variable Stiffness Actuator System Based on Two-Inertial-System

The study of position control for variable stiffness actuators is important improving their energy efficiency and robustness. In this paper, the previously proposed nonlinear actuator, firstly, a dynamic model actuator system established based on two-inertia-system theory. Secondly, effects friction gravity factors performance are analyzed. results show that have obvious characteristics in constant state, these more complex which proves reasonableness necessity considering dynamics modeling process. Then, order to improve make its positioning meet requirements, strategy studied. sliding mode disturbance observer good solution effect system, can position-tracking requirements. Finally, correctness effectiveness verified experimentally.