Title :
Demonstrating the safety and performance of a velocity sourced series elastic actuator
Author_Institution :
Sch. of Inf. Technol. & Electr. Eng., Univ. of Queensland, Brisbane, QLD
Abstract :
Actuators with deliberately added compliant elements in the transmission system are often described as improving the safety of the actuator at the detriment of the performance. We show that our variant of the series elastic actuator topology, the velocity sourced series elastic actuator, has well defined performance characteristics that make for improvements in safety and performance over conventional high impedance actuators. The improvement in performance was principally achieved by having tight velocity control of the DC motor that acts as the mechanical power source for the actuator. Results for performance are given for point to point transition times, while results for safety are based on empirical assessment of the head injury criterion during collisions.
Keywords :
DC motors; actuators; machine control; safety; velocity control; DC motor; actuator safety; series elastic actuator topology; transmission system; velocity control; velocity sourced series elastic actuator; Actuators; DC motors; Frequency; Human robot interaction; Impedance; Safety; Sea measurements; Service robots; Springs; Velocity control;
Conference_Titel :
Robotics and Automation, 2008. ICRA 2008. IEEE International Conference on
Conference_Location :
Pasadena, CA
Print_ISBN :
978-1-4244-1646-2
Electronic_ISBN :
1050-4729
DOI :
10.1109/ROBOT.2008.4543769