Ripple Minimization for Harmonic-geared Series Elastic Actuator under Force Control
- Title
- Ripple Minimization for Harmonic-geared Series Elastic Actuator under Force Control
- Author(s)
- Kang, Woosong ; Lee, Chan ; Bae, Sangjin ; Oh, Sehoon
- Issued Date
- 2020-09-14
- Citation
- IEEE 16th International Workshop on Advanced Motion Control (AMC), pp.279 - 284
- Type
- Conference Paper
- ISBN
- 9781728131894/20
- ISSN
- 1943-6572
- Abstract
- This paper develops an accurate force control algorithm an reduce the effect of torque ripple for the Series Elastic Actuators (SEA). The harmonic drive is a geared system which is widely utilized in actuators such as SEA. However, it becomes a big challenge to achieve highly accurate force control performance in SEA because of harmonic drive torque ripple. In this study, the harmonic drive ripple model is analyzed and characterized. The derived model is utilized to minimize the effect of ripple with force observation and controller for SEA. Experimental verifications are conducted to evaluate the performance of the proposed algorithm.
- Publisher
- Institute of Electrical and Electronics Engineers Inc.
- Related Researcher
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Oh, Sehoon
- 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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- Appears in Collections:
- Department of Robotics and Mechatronics Engineering MCL(Motion Control Lab) 2. Conference Papers
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