Wire-tension control using Compact Planetary geared Elastic Actuator

Jihoo Kwak, Chan Lee, Junyoung Kim, Shinyoon Kim, Sehoon Oh

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

3 Scopus citations

Abstract

The tension control of wires can benefit from Series Elastic Actuator (SEA), which is a potential emerging actuator system. In this paper, it is verified that the tension of wires can be successfully controlled by a novel SEA, called Compact Planetary-geared Elastic Actuator (cPEA), which incorporates a planetary gear and a spring to achieve precise force sensing and compactness at the same time. The design of model-based tension control and impedance compensator using cPEA is introduced, and the experiments that show the effectiveness of the proposed control are provided.

Original languageEnglish
Title of host publicationICRA 2017 - IEEE International Conference on Robotics and Automation
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages3684-3689
Number of pages6
ISBN (Electronic)9781509046331
DOIs
StatePublished - 21 Jul 2017
Event2017 IEEE International Conference on Robotics and Automation, ICRA 2017 - Singapore, Singapore
Duration: 29 May 20173 Jun 2017

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

Conference2017 IEEE International Conference on Robotics and Automation, ICRA 2017
Country/TerritorySingapore
CitySingapore
Period29/05/173/06/17

Bibliographical note

Publisher Copyright:
© 2017 IEEE.

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