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

被引：0

作者：

Jung, Hanul ^{[1
]}

Lee, Chan ^{[1
]}

Oh, Sehoon ^{[1
]}

机构：

[1] DGIST, Dept Robot Engn, Daegu, South Korea

来源：

2018 INTERNATIONAL POWER ELECTRONICS CONFERENCE (IPEC-NIIGATA 2018 -ECCE ASIA) | 2018年

关键词：

Series Elastic Actuator; Force Control; Backlash; Quantization error; Encoder resolution; STABILITY;

D O I：

暂无

中图分类号：

TE [石油、天然气工业]; TK [能源与动力工程];

学科分类号：

0807 ; 0820 ;

摘要：

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.

引用

页码：688 / 692

页数：5

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