Output torque regulation through series elastic actuation with torsion spring hysteresis

    研究成果: Conference contribution

    1 被引用数 (Scopus)

    抄録

    Series elastic actuation (SEA) has been widely used for output force/torque regulation, however, the nonlinearity introduced by its torsion spring hysteresis will greatly affect the quality of feedback control. Thus an experimental procedure is conducted for the modeling and identification of spring hysteresis effect, based on which a compensated control scheme is given. Experiment results show that the compensated control can improve the control performance compared with ordinary linear controller.

    本文言語English
    ホスト出版物のタイトル2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
    出版社Institute of Electrical and Electronics Engineers Inc.
    ページ701-706
    ページ数6
    ISBN(印刷版)9781479973965
    DOI
    出版ステータスPublished - 2014 4 20
    イベント2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014 - Bali, Indonesia
    継続期間: 2014 12 52014 12 10

    Other

    Other2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
    CountryIndonesia
    CityBali
    Period14/12/514/12/10

    ASJC Scopus subject areas

    • Biotechnology
    • Artificial Intelligence
    • Human-Computer Interaction

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