An Energy Based Control for Vibration Suppression in a Rigid Parallel Series Elastic Actuator

Ujjal Krishnanand Mavinkurve, Seyed Amir Tafrishi, Ayato Kanada, Motoji Yamamoto

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Elastic actuators find a growing interest in many research areas ranging from rehabilitation robotics to industrial robotics. Elastic actuators are actuators with elements of compliance, such as springs connected in different configurations between the actuator and the load. In particular, Rigid Parallel Series Elastic Actuators (RPSEA) is an emerging design that, in addition to the advantages provided by parallel elastic actuators, provides the ability to actively control the storage and release of spring energy. Owing to the spring element in these actuators, they often face the problem of oscillations. In this study, we propose an energy-based control strategy for vibration suppression by using only one motor of the RPSEA. The analytical findings are substantiated with simulations of the mechanism subjected to an impulse disturbance.

Original languageEnglish
Title of host publication2021 IEEE/SICE International Symposium on System Integration, SII 2021
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages600-605
Number of pages6
ISBN (Electronic)9781728176581
DOIs
Publication statusPublished - 2021 Jan 11
Externally publishedYes
Event2021 IEEE/SICE International Symposium on System Integration, SII 2021 - Virtual, Iwaki, Fukushima, Japan
Duration: 2021 Jan 112021 Jan 14

Publication series

Name2021 IEEE/SICE International Symposium on System Integration, SII 2021

Conference

Conference2021 IEEE/SICE International Symposium on System Integration, SII 2021
Country/TerritoryJapan
CityVirtual, Iwaki, Fukushima
Period21/1/1121/1/14

ASJC Scopus subject areas

  • Artificial Intelligence
  • Information Systems
  • Information Systems and Management
  • Control and Systems Engineering
  • Industrial and Manufacturing Engineering
  • Mechanical Engineering

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