Wire-tension control using Compact Planetary geared Elastic Actuator

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

doi:10.1109/ICRA.2017.7989423

Wire-tension control using Compact Planetary geared Elastic Actuator

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

Department of Robotics and Mechatronics Engineering

Kyungpook National University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-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 language	English
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	https://doi.org/10.1109/ICRA.2017.7989423
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
ISSN (Print)	1050-4729

Conference

Conference	2017 IEEE International Conference on Robotics and Automation, ICRA 2017
Country/Territory	Singapore
City	Singapore
Period	29/05/17 → 3/06/17

Bibliographical note

Publisher Copyright:
© 2017 IEEE.

Access to Document

10.1109/ICRA.2017.7989423

Cite this

Kwak, J., Lee, C., Kim, J., Kim, S., & Oh, S. (2017). Wire-tension control using Compact Planetary geared Elastic Actuator. In ICRA 2017 - IEEE International Conference on Robotics and Automation (pp. 3684-3689). Article 7989423 (Proceedings - IEEE International Conference on Robotics and Automation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2017.7989423

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title = "Wire-tension control using Compact Planetary geared Elastic Actuator",

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.",

author = "Jihoo Kwak and Chan Lee and Junyoung Kim and Shinyoon Kim and Sehoon Oh",

note = "Publisher Copyright: {\textcopyright} 2017 IEEE.; 2017 IEEE International Conference on Robotics and Automation, ICRA 2017 ; Conference date: 29-05-2017 Through 03-06-2017",

year = "2017",

month = jul,

day = "21",

doi = "10.1109/ICRA.2017.7989423",

language = "English",

series = "Proceedings - IEEE International Conference on Robotics and Automation",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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booktitle = "ICRA 2017 - IEEE International Conference on Robotics and Automation",

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Kwak, J, Lee, C, Kim, J, Kim, S & Oh, S 2017, Wire-tension control using Compact Planetary geared Elastic Actuator. in ICRA 2017 - IEEE International Conference on Robotics and Automation., 7989423, Proceedings - IEEE International Conference on Robotics and Automation, Institute of Electrical and Electronics Engineers Inc., pp. 3684-3689, 2017 IEEE International Conference on Robotics and Automation, ICRA 2017, Singapore, Singapore, 29/05/17. https://doi.org/10.1109/ICRA.2017.7989423

Wire-tension control using Compact Planetary geared Elastic Actuator. / Kwak, Jihoo; Lee, Chan; Kim, Junyoung et al.
ICRA 2017 - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc., 2017. p. 3684-3689 7989423 (Proceedings - IEEE International Conference on Robotics and Automation).

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

TY - GEN

T1 - Wire-tension control using Compact Planetary geared Elastic Actuator

AU - Kwak, Jihoo

AU - Lee, Chan

AU - Kim, Junyoung

AU - Kim, Shinyoon

AU - Oh, Sehoon

PY - 2017/7/21

Y1 - 2017/7/21

N2 - 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.

AB - 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.

UR - https://www.scopus.com/pages/publications/85027964151

U2 - 10.1109/ICRA.2017.7989423

DO - 10.1109/ICRA.2017.7989423

M3 - Conference contribution

AN - SCOPUS:85027964151

T3 - Proceedings - IEEE International Conference on Robotics and Automation

SP - 3684

EP - 3689

BT - ICRA 2017 - IEEE International Conference on Robotics and Automation

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2017 IEEE International Conference on Robotics and Automation, ICRA 2017

Y2 - 29 May 2017 through 3 June 2017

ER -

Wire-tension control using Compact Planetary geared Elastic Actuator

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