TY - GEN
T1 - An Energy Based Control for Vibration Suppression in a Rigid Parallel Series Elastic Actuator
AU - Mavinkurve, Ujjal Krishnanand
AU - Tafrishi, Seyed Amir
AU - Kanada, Ayato
AU - Yamamoto, Motoji
N1 - Publisher Copyright:
© 2021 IEEE.
PY - 2021/1/11
Y1 - 2021/1/11
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85103740427&partnerID=8YFLogxK
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U2 - 10.1109/IEEECONF49454.2021.9382723
DO - 10.1109/IEEECONF49454.2021.9382723
M3 - Conference contribution
AN - SCOPUS:85103740427
T3 - 2021 IEEE/SICE International Symposium on System Integration, SII 2021
SP - 600
EP - 605
BT - 2021 IEEE/SICE International Symposium on System Integration, SII 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2021 IEEE/SICE International Symposium on System Integration, SII 2021
Y2 - 11 January 2021 through 14 January 2021
ER -