Bandwidth Limitations in Force Control of a Series Elastic Actuator with Backlash and Quantization

Series Elastic Actuator has been widely utilized in various robotic applications, where precise and compliant force control is required. In SEA, the amount of spring deformation, which is mainly controlled for the compliant force control of SEA, is not very large, and thus the feedback control of th...

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Bibliographic Details
Published in2018 International Power Electronics Conference (IPEC Niigata 2018 ECCE Asia) pp. 688 - 692
Main Authors Hanul Jung, Chan Lee, Sehoon Oh
Format Conference Proceeding
LanguageEnglish
Published IEEJ Industry Application Society 01.05.2018
Subjects
Actuators
Back-lash
Bandwidth
Encoder resolution
Force control
Quantization (signal)
Quantization error
Robots
Series Elastic Actuator
Springs
Torque
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DOI10.23919/IPEC.2018.8507926

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Summary:Series Elastic Actuator has been widely utilized in various robotic applications, where precise and compliant force control is required. In SEA, the amount of spring deformation, which is mainly controlled for the compliant force control of SEA, is not very large, and thus the feedback control of this spring deformation is very subject to various nonlinearity such as backlash and quantization. In this paper, the effect of this nonlinearity on the force control of SEA is investigated. In particular, how the feedback controller gains are affected by the nonlinearity is examined through experiments, and a guideline for the gain determination is suggested.
DOI:10.23919/IPEC.2018.8507926