A novel stiffness control method for series elastic actuator
文献类型：会议论文
| 作者 | Lin GM(林光模) ; Zhao XG(赵新刚); Han JD(韩建达)
|
| 出版日期 | 2016 |
| 会议名称 | 2016 7th International Conference on Electronics and Information Engineering, ICEIE 2016 |
| 会议日期 | September 17-18, 2016 |
| 会议地点 | Nanjing, China |
| 关键词 | Series Elastic Actuator SEA stiffness control virtual spring human-robot collaboration |
| 页码 | 1-8 |
| 通讯作者 | 林光模 |
| 中文摘要 | Compliance plays an important role in human-robot cooperation. 'However, fixed compliance, or fixed stiffness, is difficult to meet the growing needs of human machine collaboration. As a result, the robot actuator is demanded to be able to adjust its stiffness. This paper presents a stiffness control scheme for a single DOF series elastic actuator (SEA) with a linear spring mounted in series in the mechanism. In this proposed method, the output angle of the spring is measured and used to calculate the input angle of the spring, thus the equivalent stiffness of the robot actuator revealed to the human operator can be rendered in accordance to the desired stiffness. Since the techniques used in this method only involve the position information of the system, there is no need to install an expensive force/torque sensor on the actuator. Further, the force/torque produced by the actuator can be estimated by simply multiplying the deformation angle of the spring and its constant stiffness coefficient. The analysis of the stiffness controller is provided. Then a simulation that emulates a human operates the SEA while the stiffness controller is running is carried out and the results also validate the proposed method. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议主办者 | Instrument and Control Society of Jiangsu |
| 会议录 | Proceedings of SPIE 10322, 7th International Conference on Electronics and Information Engineering
 |
| 会议录出版者 | SPIE |
| 会议录出版地 | Bellingham, WA |
| 语种 | 英语 |
| ISSN号 | 0277-786X |
| ISBN号 | 978-1-5106-1080-4 |
| WOS记录号 | WOS:000399337200102 |
| 源URL | [http://ir.sia.cn/handle/173321/20187]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Lin GM,Zhao XG,Han JD. A novel stiffness control method for series elastic actuator[C]. 见:2016 7th International Conference on Electronics and Information Engineering, ICEIE 2016. Nanjing, China. September 17-18, 2016. |
入库方式： OAI收割
来源：沈阳自动化研究所
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。