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

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

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2021 IEEE/SICE International Symposium on System Integration, SII 2021
出版社Institute of Electrical and Electronics Engineers Inc.
ページ600-605
ページ数6
ISBN(電子版)9781728176581
DOI
出版ステータスPublished - 2021 1 11
外部発表はい
イベント2021 IEEE/SICE International Symposium on System Integration, SII 2021 - Virtual, Iwaki, Fukushima, Japan
継続期間: 2021 1 112021 1 14

出版物シリーズ

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

Conference

Conference2021 IEEE/SICE International Symposium on System Integration, SII 2021
国/地域Japan
CityVirtual, Iwaki, Fukushima
Period21/1/1121/1/14

ASJC Scopus subject areas

  • 人工知能
  • 情報システム
  • 情報システムおよび情報管理
  • 制御およびシステム工学
  • 産業および生産工学
  • 機械工学

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