Output torque regulation through series elastic actuation with torsion spring hysteresis

    研究成果: Conference contribution

    1 引用 (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.

    元の言語English
    ホスト出版物のタイトル2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
    出版者Institute of Electrical and Electronics Engineers Inc.
    ページ701-706
    ページ数6
    ISBN(印刷物)9781479973965
    DOI
    出版物ステータス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
    Indonesia
    Bali
    期間14/12/514/12/10

    Fingerprint

    Torque
    Quality Control
    Torsional stress
    Hysteresis
    Control nonlinearities
    Feedback control
    Identification (control systems)
    Controllers
    Experiments

    ASJC Scopus subject areas

    • Biotechnology
    • Artificial Intelligence
    • Human-Computer Interaction

    これを引用

    Wang, W., & Sugano, S. (2014). Output torque regulation through series elastic actuation with torsion spring hysteresis. : 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014 (pp. 701-706). [7090413] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBIO.2014.7090413

    Output torque regulation through series elastic actuation with torsion spring hysteresis. / Wang, Wei; Sugano, Shigeki.

    2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014. Institute of Electrical and Electronics Engineers Inc., 2014. p. 701-706 7090413.

    研究成果: Conference contribution

    Wang, W & Sugano, S 2014, Output torque regulation through series elastic actuation with torsion spring hysteresis. : 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014., 7090413, Institute of Electrical and Electronics Engineers Inc., pp. 701-706, 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014, Bali, Indonesia, 14/12/5. https://doi.org/10.1109/ROBIO.2014.7090413
    Wang W, Sugano S. Output torque regulation through series elastic actuation with torsion spring hysteresis. : 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014. Institute of Electrical and Electronics Engineers Inc. 2014. p. 701-706. 7090413 https://doi.org/10.1109/ROBIO.2014.7090413
    Wang, Wei ; Sugano, Shigeki. / Output torque regulation through series elastic actuation with torsion spring hysteresis. 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014. Institute of Electrical and Electronics Engineers Inc., 2014. pp. 701-706
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