Abstract
Serial Elastic Actuators (SEAs) have several superiorities over conventional rigid actuators e.g., greater shock tolerance, energy storage, safety, and so on. However, there exist performance limitations due to existence of elasticity in SEAs, i.e., low accuracy in position control, low control bandwidth in force control as coupling stability is guaranteed, and impedance constraints in impedance control. Variable Stiffness Actuators (VSAs) are designed to address the performance degradation but increases complexity in mechanism. As a result, control in SEAs plays a more important role than that in their rigid counterparts. We address this challenge by cascade control severing as the same purpose as that of VSAs’ without losing favorable advantages of SEAs to imitate humanoid manipulation. Then stability and passivity constraints is derived. Performance analysis is conducted in terms of quasi-rigid performance and apparent stiffness. Finally, experiments are carried out to test performance of the suggested control scheme.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
