Impedance control of a cable-driven series elastic actuator with the 2-DOF control structure | IEEE Conference Publication | IEEE Xplore

Impedance control of a cable-driven series elastic actuator with the 2-DOF control structure


Abstract:

Series elastic actuators (SEAs) are growingly important in physical human-robot interaction (HRI) due to their inherent safety and compliance. Cable-driven SEAs also allo...Show More

Abstract:

Series elastic actuators (SEAs) are growingly important in physical human-robot interaction (HRI) due to their inherent safety and compliance. Cable-driven SEAs also allow flexible installation and remote torque transmission, etc. However, there are still challenges for the impedance control of cable-driven SEAs, such as the reduced bandwidth caused by the elastic component, and the performance balance between reference tracking and robustness. In this paper, a velocity sourced cable-driven SEA has been set up. Then, a stabilizing 2 degrees of freedom (2-DOF) control approach was designed to separately pursue the goals of robustness and torque tracking. Further, the impedance control structure for human-robot interaction was designed and implemented with a torque compensator. Both simulation and practical experiments have validated the efficacy of the 2-DOF method for the control of cable-driven SEAs.
Date of Conference: 09-14 October 2016
Date Added to IEEE Xplore: 01 December 2016
ISBN Information:
Electronic ISSN: 2153-0866
Conference Location: Daejeon, Korea (South)
Institute of Robotics and Automatic Information Systems, Nankai University, Tianjin, China
Institute of Robotics and Automatic Information Systems, Nankai University, Tianjin, China
Institute of Robotics and Automatic Information Systems, Nankai University, Tianjin, China
Institute of Robotics and Automatic Information Systems, Nankai University, Tianjin, China
Institute of Robotics and Automatic Information Systems, Nankai University, Tianjin, China
Institute of Robotics and Automatic Information Systems, Nankai University, Tianjin, China

Institute of Robotics and Automatic Information Systems, Nankai University, Tianjin, China
Institute of Robotics and Automatic Information Systems, Nankai University, Tianjin, China
Institute of Robotics and Automatic Information Systems, Nankai University, Tianjin, China
Institute of Robotics and Automatic Information Systems, Nankai University, Tianjin, China
Institute of Robotics and Automatic Information Systems, Nankai University, Tianjin, China
Institute of Robotics and Automatic Information Systems, Nankai University, Tianjin, China

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