• DocumentCode
    3180529
  • Title

    Model based control of series elastic actuators

  • Author

    Grün, Markus ; Müller, Roman ; Konigorski, Ulrich

  • Author_Institution
    Dept. of Control Eng. & Mechatron., Tech. Univ. Darmstadt, Darmstadt, Germany
  • fYear
    2012
  • fDate
    24-27 June 2012
  • Firstpage
    538
  • Lastpage
    543
  • Abstract
    This contribution presents a comprehensible model based approach of a control structure to control the output force of series elastic actuators. The controller is based on a linear model of the actuator, which can be reduced to a PT2 element if a disturbance compensator is included. This allows for a straightforward design of a state space controller and an intuitive choice of the controller parameters. An actuator design is presented and the required system parameters are identified. The performance of the control structure is proven by experiment.
  • Keywords
    actuators; control system synthesis; force control; state-space methods; PT2 element; actuator design; actuator linear model; control structure; controller parameters; disturbance compensator; model based control; output force control; series elastic actuators; state space controller design; Actuators; DC motors; Force; Gears; Sea measurements; Springs; Torque;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Biomedical Robotics and Biomechatronics (BioRob), 2012 4th IEEE RAS & EMBS International Conference on
  • Conference_Location
    Rome
  • ISSN
    2155-1774
  • Print_ISBN
    978-1-4577-1199-2
  • Type

    conf

  • DOI
    10.1109/BioRob.2012.6290300
  • Filename
    6290300
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3180529