Abstract
Recently, the dynamic model of Series Elastic Actuator (SEA) has been researched intensively, and most of the approaches ignore the dynamics of the load part and model SEA as a simple mass damper spring system, which is valid only when SEAs contact with high impedance environments. To consider the dynamic model of SEA as a mass damper spring system can be erroneous when SEA does not contact high impedance environment and makes free motions. In this paper, a novel dynamic model of Reaction Force Series Elastic Actuator is proposed, which is unlumped two mass system model. The dynamic model is derived using the Lagrangian mechanics so as to successfully include all degrees of freedom of the SEA. The proposed model is verified through system identification experiments. The results indicate the actual dynamic model of SEA is valid throughout various load conditions.
| Original language | English |
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| Title of host publication | Proceedings of the IECON 2016 - 42nd Annual Conference of the Industrial Electronics Society |
| Publisher | IEEE Computer Society |
| Pages | 5784-5789 |
| Number of pages | 6 |
| ISBN (Electronic) | 9781509034741 |
| DOIs | |
| State | Published - 21 Dec 2016 |
| Event | 42nd Conference of the Industrial Electronics Society, IECON 2016 - Florence, Italy Duration: 24 Oct 2016 → 27 Oct 2016 |
Publication series
| Name | IECON Proceedings (Industrial Electronics Conference) |
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Conference
| Conference | 42nd Conference of the Industrial Electronics Society, IECON 2016 |
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| Country/Territory | Italy |
| City | Florence |
| Period | 24/10/16 → 27/10/16 |
Bibliographical note
Publisher Copyright:© 2016 IEEE.