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

Title
Bandwidth Limitations in Force Control of a Series Elastic Actuator with Backlash and Quantization
Authors
Jung, HanulLee, ChanOh, Sehoon
DGIST Authors
Oh, Sehoon
Issue Date
2018-05-22
Citation
8th International Power Electronics Conference, IPEC-Niigata - ECCE Asia 2018, 688-692
Type
Conference
Abstract
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. ? 2018 IEEJ Industry Application Society.
URI
http://hdl.handle.net/20.500.11750/9500
DOI
10.23919/IPEC.2018.8507926
Publisher
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
Files:
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Collection:
Department of Robotics EngineeringMCL(Motion Control Lab)2. Conference Papers


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