Dynamic analysis of series elastic actuator in terms of controller design

Sehoon Oh; Kyoungchul Kong

doi:10.1109/ICCAS.2016.7832361

Dynamic analysis of series elastic actuator in terms of controller design

Sehoon Oh
, Kyoungchul Kong

Department of Robotics and Mechatronics Engineering

Sogang University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

In order to provide highly compliant and powerful force, a series elastic actuator (SEA) has been developed and are now widely utilized. In spite of this characteristics as an ideal force source for safe human-robot interactions, SEA is considered difficult to design and control as its mechanical structure is complicated, namely it consists of a motor, a reduction gear, an elastic element and load, which causes various challenges, such as the unknown dynamics of a load, the nonlinearity of gears, the oscillation mode induced by the elastic element, and so on. It is required to investigate how the dynamic characteristics are influenced by these issues, and this paper tackles this problem by deriving and analyzing the dynamics of SEA. The dynamics of SEA with mechanical parameter variations is evaluated using the criteria utilized for controller design.

Original language	English
Title of host publication	ICCAS 2016 - 2016 16th International Conference on Control, Automation and Systems, Proceedings
Publisher	IEEE Computer Society
Pages	465-471
Number of pages	7
ISBN (Electronic)	9788993215120
DOIs	https://doi.org/10.1109/ICCAS.2016.7832361
State	Published - 24 Jan 2016
Event	16th International Conference on Control, Automation and Systems, ICCAS 2016 - Gyeongju, Korea, Republic of Duration: 16 Oct 2016 → 19 Oct 2016

Publication series

Name	International Conference on Control, Automation and Systems
Volume	0
ISSN (Print)	1598-7833

Conference

Conference	16th International Conference on Control, Automation and Systems, ICCAS 2016
Country/Territory	Korea, Republic of
City	Gyeongju
Period	16/10/16 → 19/10/16

Bibliographical note

Publisher Copyright:
© 2016 Institute of Control, Robotics and Systems - ICROS.

Keywords

Dynamic Model
Parameter Variation
Series Elastic Actuator

Access to Document

10.1109/ICCAS.2016.7832361

Cite this

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title = "Dynamic analysis of series elastic actuator in terms of controller design",

abstract = "In order to provide highly compliant and powerful force, a series elastic actuator (SEA) has been developed and are now widely utilized. In spite of this characteristics as an ideal force source for safe human-robot interactions, SEA is considered difficult to design and control as its mechanical structure is complicated, namely it consists of a motor, a reduction gear, an elastic element and load, which causes various challenges, such as the unknown dynamics of a load, the nonlinearity of gears, the oscillation mode induced by the elastic element, and so on. It is required to investigate how the dynamic characteristics are influenced by these issues, and this paper tackles this problem by deriving and analyzing the dynamics of SEA. The dynamics of SEA with mechanical parameter variations is evaluated using the criteria utilized for controller design.",

keywords = "Dynamic Model, Parameter Variation, Series Elastic Actuator",

author = "Sehoon Oh and Kyoungchul Kong",

note = "Publisher Copyright: {\textcopyright} 2016 Institute of Control, Robotics and Systems - ICROS.; 16th International Conference on Control, Automation and Systems, ICCAS 2016 ; Conference date: 16-10-2016 Through 19-10-2016",

year = "2016",

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doi = "10.1109/ICCAS.2016.7832361",

language = "English",

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Oh, S & Kong, K 2016, Dynamic analysis of series elastic actuator in terms of controller design. in ICCAS 2016 - 2016 16th International Conference on Control, Automation and Systems, Proceedings., 7832361, International Conference on Control, Automation and Systems, vol. 0, IEEE Computer Society, pp. 465-471, 16th International Conference on Control, Automation and Systems, ICCAS 2016, Gyeongju, Korea, Republic of, 16/10/16. https://doi.org/10.1109/ICCAS.2016.7832361

Dynamic analysis of series elastic actuator in terms of controller design. / Oh, Sehoon; Kong, Kyoungchul.
ICCAS 2016 - 2016 16th International Conference on Control, Automation and Systems, Proceedings. IEEE Computer Society, 2016. p. 465-471 7832361 (International Conference on Control, Automation and Systems; Vol. 0).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Dynamic analysis of series elastic actuator in terms of controller design

AU - Oh, Sehoon

AU - Kong, Kyoungchul

PY - 2016/1/24

Y1 - 2016/1/24

N2 - In order to provide highly compliant and powerful force, a series elastic actuator (SEA) has been developed and are now widely utilized. In spite of this characteristics as an ideal force source for safe human-robot interactions, SEA is considered difficult to design and control as its mechanical structure is complicated, namely it consists of a motor, a reduction gear, an elastic element and load, which causes various challenges, such as the unknown dynamics of a load, the nonlinearity of gears, the oscillation mode induced by the elastic element, and so on. It is required to investigate how the dynamic characteristics are influenced by these issues, and this paper tackles this problem by deriving and analyzing the dynamics of SEA. The dynamics of SEA with mechanical parameter variations is evaluated using the criteria utilized for controller design.

AB - In order to provide highly compliant and powerful force, a series elastic actuator (SEA) has been developed and are now widely utilized. In spite of this characteristics as an ideal force source for safe human-robot interactions, SEA is considered difficult to design and control as its mechanical structure is complicated, namely it consists of a motor, a reduction gear, an elastic element and load, which causes various challenges, such as the unknown dynamics of a load, the nonlinearity of gears, the oscillation mode induced by the elastic element, and so on. It is required to investigate how the dynamic characteristics are influenced by these issues, and this paper tackles this problem by deriving and analyzing the dynamics of SEA. The dynamics of SEA with mechanical parameter variations is evaluated using the criteria utilized for controller design.

KW - Dynamic Model

KW - Parameter Variation

KW - Series Elastic Actuator

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DO - 10.1109/ICCAS.2016.7832361

M3 - Conference contribution

AN - SCOPUS:85014012602

T3 - International Conference on Control, Automation and Systems

SP - 465

EP - 471

BT - ICCAS 2016 - 2016 16th International Conference on Control, Automation and Systems, Proceedings

PB - IEEE Computer Society

T2 - 16th International Conference on Control, Automation and Systems, ICCAS 2016

Y2 - 16 October 2016 through 19 October 2016

ER -

Dynamic analysis of series elastic actuator in terms of controller design

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Keywords

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