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 language | English |
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Title of host publication | ICRA 2017 - IEEE International Conference on Robotics and Automation |
Publisher | Institute of Electrical and Electronics Engineers Inc. |
Pages | 3684-3689 |
Number of pages | 6 |
ISBN (Electronic) | 9781509046331 |
DOIs | |
State | Published - 21 Jul 2017 |
Event | 2017 IEEE International Conference on Robotics and Automation, ICRA 2017 - Singapore, Singapore Duration: 29 May 2017 → 3 Jun 2017 |
Publication series
Name | Proceedings - IEEE International Conference on Robotics and Automation |
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ISSN (Print) | 1050-4729 |
Conference
Conference | 2017 IEEE International Conference on Robotics and Automation, ICRA 2017 |
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Country/Territory | Singapore |
City | Singapore |
Period | 29/05/17 → 3/06/17 |
Bibliographical note
Publisher Copyright:© 2017 IEEE.