Journal
2018 INTERNATIONAL POWER ELECTRONICS CONFERENCE (IPEC-NIIGATA 2018 -ECCE ASIA)
Volume -, Issue -, Pages 688-692Publisher
IEEE
Keywords
Series Elastic Actuator; Force Control; Backlash; Quantization error; Encoder resolution
Funding
- DGIST Start-up Fund of the Ministry of Science, ICT and Future Planning [2018010078]
- Korea government of the Ministry of Trade, Industry Energy [10080547]
- Korea Evaluation Institute of Industrial Technology (KEIT) [10080547] Funding Source: Korea Institute of Science & Technology Information (KISTI), National Science & Technology Information Service (NTIS)
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Series Elastic Actuator has been widely utilized in various robotic applications, where precise and compliant force control is required. In SEA, the amount of spring deformation, which is mainly controlled for the compliant force control of SEA, is not very large, and thus the feedback control of this spring deformation is very subject to various nonlinearity such as backlash and quantization. In this paper, the effect of this nonlinearity on the force control of SEA is investigated. In particular, how the feedback controller gains are affected by the nonlinearity is examined through experiments, and a guideline for the gain determination is suggested.
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