Switching Position-Torque Control for Series Elastic Actuators with Disturbance Observer

Minjae Jo, Hyunwook Lee, Sehoon Oh

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

2 Scopus citations

Abstract

This paper proposes a novel switch control for the series elastic actuator (SEA). This switch control provides more robust position control along with better impulse dissipation performance. SEA is an actuator technology commonly used in robotic applications that require safe and precise interaction control. The SEA has built-in spring elements to inherently measure or estimate the transmitted force. It is often used for the application where the relevant action between motion and force is needed. The switching problem between position and torque control is one of the major issues, especially in situations where both position and torque information are critical, such as collisions. To deal with this problem, we discuss the conventional switching method and suggest a new method. Besides, this paper describes the criteria for comparing and analyzing them and presents a new approach that utilizes the concept of power to evaluate the performance of switching algorithms.

Original languageEnglish
Title of host publicationProceedings
Subtitle of host publicationIECON 2019 - 45th Annual Conference of the IEEE Industrial Electronics Society
PublisherIEEE Computer Society
Pages3653-3658
Number of pages6
ISBN (Electronic)9781728148786
DOIs
StatePublished - Oct 2019
Event45th Annual Conference of the IEEE Industrial Electronics Society, IECON 2019 - Lisbon, Portugal
Duration: 14 Oct 201917 Oct 2019

Publication series

NameIECON Proceedings (Industrial Electronics Conference)
Volume2019-October

Conference

Conference45th Annual Conference of the IEEE Industrial Electronics Society, IECON 2019
Country/TerritoryPortugal
CityLisbon
Period14/10/1917/10/19

Bibliographical note

Publisher Copyright:
© 2019 IEEE.

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