An experimental study on energy-based control of rigid parallel series elastic actuator

Ujjal Krishnanand Mavinkurve, Seyed Amir Tafrishi, Ayato Kanada, Koki Honda, Yasutaka Nakashima, Motoji Yamamoto

研究成果: Conference contribution

抄録

Parallel elastic actuators (PEA) find a growing interest in many research areas ranging from rehabilitation devices to industrial robots on account of their ability to save energy as well as providing passive impact absorption. PEAs are actuators with elements of compliance, such as springs connected in parallel between the actuator and the load. The majority of these PEA mechanisms rely on clutches that require a high amount of power in a short amount of time. Furthermore, these PEA can only switch between a state of complete rigidity to constant stiffness. We consider the emerging design of rigid parallel series elastic actuators (RPSEA) which, in addition to the advantages provided by parallel elastic actuators, uses a motor instead of a clutch-based mechanism to manipulate the stiffness. We develop an experimental setup of the RPSEA and compare an Energy-based control method with a conventional PID control. The response of the two controllers is evaluated under disturbance and presented in this paper.

本文言語English
ホスト出版物のタイトル2021 World Automation Congress, WAC 2021
出版社IEEE Computer Society
ページ26-31
ページ数6
ISBN(電子版)9781685241117
DOI
出版ステータスPublished - 2021 8 1
イベント2021 World Automation Congress, WAC 2021 - Virtual, Taipei, Taiwan, Province of China
継続期間: 2021 8 12021 8 5

出版物シリーズ

名前World Automation Congress Proceedings
2021-August
ISSN(印刷版)2154-4824
ISSN(電子版)2154-4832

Conference

Conference2021 World Automation Congress, WAC 2021
国/地域Taiwan, Province of China
CityVirtual, Taipei
Period21/8/121/8/5

ASJC Scopus subject areas

  • 制御およびシステム工学

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