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Passivity Controller Based on Load-Side Damping Assignment for High Stiffness Controlled Series Elastic Actuators

Lee, Hyunwook and Ryu, Jee-Hwan and Lee, Jinoh and Oh, Sehoon (2020) Passivity Controller Based on Load-Side Damping Assignment for High Stiffness Controlled Series Elastic Actuators. IEEE Transactions on Industrial Electronics, 68 (1), pp. 871-881. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/tie.2020.3013751. ISSN 0278-0046.

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Official URL: http://dx.doi.org/10.1109/tie.2020.3013751


This article offers a new insight to the achievable stiffness limitation of the impedance control of series elastic actuators (SEAs) by suggesting a comparative analysis of energy ports and passivity control framework at the energy port to enhance the maximum achievable rendered stiffness of SEAs. To this end, it is explored that SEAs have two different port definitions to assess energy and passivity of the system—spring port and load port; and conservatisms for passivity evaluation of two ports are investigated and compared utilizing frequency characteristics. The results reveal that the load port passivity exhibits less conservatism, which allows to render larger achievable stiffness in impedance-controlled SEAs. Moreover, key parameters that determine the passivity characteristic of the SEA impedance control are discovered based on the load port passivity analysis. A novel passivity control framework that incorporates the time-domain passivity observer and the passivity controller is designed utilizing the load port energy monitoring, which offers a less conservative assessment of the systems passivity. Throughout this novel port passivity analysis and the passivity control, it can be achieved to render maximum rendered stiffness of the SEA impedance control much higher than the limitation that has been perceived as the maximum value.

Item URL in elib:https://elib.dlr.de/137395/
Document Type:Article
Title:Passivity Controller Based on Load-Side Damping Assignment for High Stiffness Controlled Series Elastic Actuators
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Lee, JinohUNSPECIFIEDhttps://orcid.org/0000-0002-4901-7095153236908
Journal or Publication Title:IEEE Transactions on Industrial Electronics
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:Yes
Page Range:pp. 871-881
Publisher:IEEE - Institute of Electrical and Electronics Engineers
Keywords:Force control, impedance, stability analysis
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 - Walking Robotics/Locomotion [SY]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Lee, Dr. Jinoh
Deposited On:12 Nov 2020 11:33
Last Modified:15 Feb 2024 13:55

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