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After briefly summarizing the mechanical design of the two joint prototypes for the new DLR variable compliance arm, the paper exemplifies the dynamic modelling of one of the prototypes and proposes a generic variable stiffness joint model for nonlinear control design. Based on this model, the design of a simple, gain scheduled state feedback controller for active vibration damping of the mechanically...
Brake-by-wire means that the direct mechanical link between brake pedal and braking cylinder is completely replaced by an electromechanical braking system. This concept, originally used for aircraft and military only, has massive advantages for implementing in new car designs. As a consequence, the pedal movement can be generated arbitrarily. Ideally, the pedal could behave like a conventional brake...
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