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Dynamic analysis of series elastic actuator in terms of controller design

Title
Dynamic analysis of series elastic actuator in terms of controller design
Authors
Oh, SehoonKong, Kyoungchul
DGIST Authors
Oh, Sehoon
Issue Date
2017
Citation
16th International Conference on Control, Automation and Systems, ICCAS 2016, 465-471
Type
Conference
Article Type
Conference Paper
ISBN
9788990000000
ISSN
1598-7833
Abstract
In order to provide highly compliant and powerful force, a series elastic actuator (SEA) has been developed and are now widely utilized. In spite of this characteristics as an ideal force source for safe human-robot interactions, SEA is considered difficult to design and control as its mechanical structure is complicated, namely it consists of a motor, a reduction gear, an elastic element and load, which causes various challenges, such as the unknown dynamics of a load, the nonlinearity of gears, the oscillation mode induced by the elastic element, and so on. It is required to investigate how the dynamic characteristics are influenced by these issues, and this paper tackles this problem by deriving and analyzing the dynamics of SEA. The dynamics of SEA with mechanical parameter variations is evaluated using the criteria utilized for controller design. © 2016 Institute of Control, Robotics and Systems - ICROS.
URI
http://hdl.handle.net/20.500.11750/4328
DOI
10.1109/ICCAS.2016.7832361
Publisher
IEEE Computer Society
Related Researcher
  • Author Oh, Se Hoon MCL(Motion Control Lab)
  • Research Interests Research on Human-friendly motion control; Development of human assistance;rehabilitation system; Design of robotic system based on human musculoskeletal system; Analysis of human walking dynamics and its application to robotics; 친인간적인 운동제어 설계연구; 인간 보조;재활 시스템의 설계 및 개발연구; 인간 근골격계에 기초한 로봇기구 개발연구; 보행운동 분석과 모델 및 로봇기구에의 응용
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Collection:
Robotics EngineeringETC2. Conference Papers


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