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Enhancing joint torque control of series elastic actuators with physical damping

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: IEEE International Conference on Robotics and Automation ICRA. IEEE International Conference on Robotics and Automation (ICRA) 2017, 29 May - 3 June2017, Singapore.

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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/
Document Type:Conference or Workshop Item (Speech)
Title:Enhancing joint torque control of series elastic actuators with physical damping
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Kim, MinJunMinJun.Kim (at) dlr.deUNSPECIFIED
Werner, AlexanderAlexander.Werner (at) dlr.deUNSPECIFIED
Loeffl, Florian ChristophFlorian.Loeffl (at) dlr.deUNSPECIFIED
Ott, Christianchristian.ott (at) dlr.dehttps://orcid.org/0000-0003-0987-7493
Date:2017
Journal or Publication Title:IEEE International Conference on Robotics and Automation ICRA
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:Yes
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 Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Robotdynamik & Simulation
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:12 Jun 2017 17:32

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