Kim, MinJun and Werner, Alexander and Loeffl, Florian Christoph and Ott, Christian (2017) Enhancing joint torque control of series elastic actuators with physical damping. In: 2017 IEEE International Conference on Robotics and Automation, ICRA 2017. IEEE International Conference on Robotics and Automation (ICRA) 2017, 29 May - 3 June2017, Singapore. doi: 10.1109/ICRA.2017.7989145. ISBN 978-150904633-1. ISSN 1050-4729.
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Official URL: https://ieeexplore.ieee.org/document/7989145
Abstract
This paper presents that the joint torque control capability can be enhanced by adding physical damper to a series elastic actuator (SEA). Joint torque tracking of standard SEA has known limitations that the torque dynamics has an relative order of two, and, as a consequence, the torque controller often requires acceleration feedback when the desired torque is defined by a function of velocity (for example, compliance control). This limitation can be removed by introducing physical damping, reducing the relative degree of torque dynamics by one. Based on this observation, we design a robust controller using the disturbance observer technique. The resulting control law is given by a feed-forward term combined with PI control. The proposed controller is verified in simulation and experiment.
Item URL in elib: | https://elib.dlr.de/112260/ | |||||||||||||||
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Document Type: | Conference or Workshop Item (Speech) | |||||||||||||||
Title: | Enhancing joint torque control of series elastic actuators with physical damping | |||||||||||||||
Authors: |
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Date: | 2017 | |||||||||||||||
Journal or Publication Title: | 2017 IEEE International Conference on Robotics and Automation, ICRA 2017 | |||||||||||||||
Refereed publication: | Yes | |||||||||||||||
Open Access: | No | |||||||||||||||
Gold Open Access: | No | |||||||||||||||
In SCOPUS: | Yes | |||||||||||||||
In ISI Web of Science: | No | |||||||||||||||
DOI: | 10.1109/ICRA.2017.7989145 | |||||||||||||||
ISSN: | 1050-4729 | |||||||||||||||
ISBN: | 978-150904633-1 | |||||||||||||||
Status: | Published | |||||||||||||||
Keywords: | Series elastic actuator, SEA, Physically damped series elastic actuator, torque control | |||||||||||||||
Event Title: | IEEE International Conference on Robotics and Automation (ICRA) 2017 | |||||||||||||||
Event Location: | Singapore | |||||||||||||||
Event Type: | international Conference | |||||||||||||||
Event Dates: | 29 May - 3 June2017 | |||||||||||||||
Organizer: | IEEE | |||||||||||||||
HGF - Research field: | Aeronautics, Space and Transport | |||||||||||||||
HGF - Program: | Space | |||||||||||||||
HGF - Program Themes: | Space System Technology | |||||||||||||||
DLR - Research area: | Raumfahrt | |||||||||||||||
DLR - Program: | R SY - Space System Technology | |||||||||||||||
DLR - Research theme (Project): | R - Vorhaben Robotdynamik & Simulation (old) | |||||||||||||||
Location: | Oberpfaffenhofen | |||||||||||||||
Institutes and Institutions: | Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems | |||||||||||||||
Deposited By: | Kim, MinJun | |||||||||||||||
Deposited On: | 12 Jun 2017 17:32 | |||||||||||||||
Last Modified: | 19 Jul 2022 15:19 |
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