Abstract
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.
| Original language | English |
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| Title of host publication | 2018 International Power Electronics Conference, IPEC-Niigata - ECCE Asia 2018 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 688-692 |
| Number of pages | 5 |
| ISBN (Electronic) | 9784886864055 |
| DOIs | |
| State | Published - 22 Oct 2018 |
| Event | 8th International Power Electronics Conference, IPEC-Niigata - ECCE Asia 2018 - Niigata, Japan Duration: 20 May 2018 → 24 May 2018 |
Publication series
| Name | 2018 International Power Electronics Conference, IPEC-Niigata - ECCE Asia 2018 |
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Conference
| Conference | 8th International Power Electronics Conference, IPEC-Niigata - ECCE Asia 2018 |
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| Country/Territory | Japan |
| City | Niigata |
| Period | 20/05/18 → 24/05/18 |
Bibliographical note
Publisher Copyright:© 2018 IEEJ Industry Application Society.
Keywords
- Back-lash
- Encoder resolution
- Force Control
- Quantization error
- Series Elastic Actuator