SIA OpenIR  > 机器人学研究室
A novel stiffness control method for series elastic actuator
Lin GM(林光模); Zhao XG(赵新刚); Han JD(韩建达)
作者部门机器人学研究室
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
会议主办者Instrument and Control Society of Jiangsu
会议录名称Proceedings of SPIE 10322, 7th International Conference on Electronics and Information Engineering
出版者SPIE
出版地Bellingham, WA
2016
页码1-8
收录类别EI ; CPCI(ISTP)
EI收录号20171103439332
WOS记录号WOS:000399337200102
产权排序1
ISSN号0277-786X
ISBN号978-1-5106-1080-4
关键词Series Elastic Actuator Sea Stiffness Control Virtual Spring Human-robot Collaboration
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.
语种英语
引用统计
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/20187
专题机器人学研究室
通讯作者Lin GM(林光模)
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
2.University of Chinese Academy of Sciences, Shenyang, China
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]//Instrument and Control Society of Jiangsu. Bellingham, WA:SPIE,2016:1-8.
条目包含的文件
文件名称/大小 文献类型 版本类型 开放类型 使用许可
A novel stiffness co(399KB)会议论文 开放获取CC BY-NC-SA浏览 请求全文
个性服务
推荐该条目
保存到收藏夹
查看访问统计
导出为Endnote文件
谷歌学术
谷歌学术中相似的文章
[Lin GM(林光模)]的文章
[Zhao XG(赵新刚)]的文章
[Han JD(韩建达)]的文章
百度学术
百度学术中相似的文章
[Lin GM(林光模)]的文章
[Zhao XG(赵新刚)]的文章
[Han JD(韩建达)]的文章
必应学术
必应学术中相似的文章
[Lin GM(林光模)]的文章
[Zhao XG(赵新刚)]的文章
[Han JD(韩建达)]的文章
相关权益政策
暂无数据
收藏/分享
文件名: A novel stiffness control method for series elastic actuator.pdf
格式: Adobe PDF
所有评论 (0)
暂无评论
 

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。