Control System Design for Two Link Robot Arm with MACCEPA 2.0 Variable Stiffness Actuators

The paper deals with control system design for a robotic arm with variable stiffness actuators (VSA). Particular attention is paid to the MACEPPA (Mechanically Adjustable Compliance and Controllable Equilibrium Position Actuator) type VSA and its utilization for delicate manipulation of objects with unknown dynamic parameters. The proposed solution contains two layers controlling output position/torque and internal state parameters. The designed control system was tested on the two-link manipulator with MACCEPA 2.0 type actuators