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
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;
Conference_Titel :
Biomedical Robotics and Biomechatronics (BioRob), 2012 4th IEEE RAS & EMBS International Conference on
Conference_Location :
Rome
Print_ISBN :
978-1-4577-1199-2
DOI :
10.1109/BioRob.2012.6290300
