Output torque regulation through series elastic actuation with torsion spring hysteresis

Wei Wang; Shigeki Sugano

doi:10.1109/ROBIO.2014.7090413

Output torque regulation through series elastic actuation with torsion spring hysteresis

Wei Wang, Shigeki Sugano

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	https://doi.org/10.1109/ROBIO.2014.7090413
出版ステータス	Published - 2014 4月 20
イベント	2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014 - Bali, Indonesia 継続期間: 2014 12月 5 → 2014 12月 10

Other

Other	2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
国/地域	Indonesia
City	Bali
Period	14/12/5 → 14/12/10

ASJC Scopus subject areas

バイオテクノロジー
人工知能
人間とコンピュータの相互作用

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10.1109/ROBIO.2014.7090413

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引用スタイル

Wang, W & Sugano, S 2014, Output torque regulation through series elastic actuation with torsion spring hysteresis. in 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

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abstract = "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.",

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doi = "10.1109/ROBIO.2014.7090413",

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AB - 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.

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ER -

Output torque regulation through series elastic actuation with torsion spring hysteresis

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