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Maximum torque generation of SEA under velocity control

Maximum torque generation of SEA under velocity control
Lee, ChanChoi, Wi HaOh, Sehoon
DGIST Authors
Oh, Sehoon
Issue Date
14th IEEE International Workshop on Advanced Motion Control, AMC 2016, 16-23
Nowadays, compliance is required in various research. Series Elastic Actuator (SEA) has been emerged as one of the promising actuator system, since it provides various benefits such as safety, force sensing, energy storing with its inherent compliance. While the SEA contributes not only to the human interacting robot but also to wide robotics area, there is still limitation in performance that is caused by non-linearity and discontinuous power transfer. The cause of these influence is arisen from the electric devices (e.g., sensor, motor) and mechanical characteristics (e.g., friction, gear backlash), since SEA consists of a motor, a spring and a gear reducer to amplify the output torque. We focus on improvement of maximum force control performance (i.e., control bandwidth) taking into consideration saturation characteristic of the motor drive. Especially velocity limitation which interrupts spring deformation tracking performance is concentrated in this research; the spring in SEA transforms displacement to output force and its performance depends on the position control performance of the SEA. A novel index called Maximum Torque Transmissibility (MTT) is defined to assess the ability to fully utilize maximum continuous motor torque input which is saturated by velocity output limitation condition. Novel and practical frequency bandwidth can be found based on the proposed MTT. © 2016 IEEE.
Institute of Electrical and Electronics Engineers Inc.
Related Researcher
  • Author Oh, Sehoon 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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Department of Robotics EngineeringMCL(Motion Control Lab)2. Conference Papers

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