Control issues for velocity sourced Series Elastic Actuators
Wyeth, Gordon (2006) Control issues for velocity sourced Series Elastic Actuators. In MacDonald, Bruce (Ed.) Proceedings of the Australasian Conference on Robotics and Automation 2006, Australian Robotics and Automation Association Inc, Auckland.
The Series Elasic Actuator has been proposed as a method for providing safe force or torque based acutation for robots that interact with humans. In this paper we look at some outstanding issues in the implementation and control of Series Elastic Actuators. The study addresses issues in making the Series Elastic Actuator respond effectively in the presence of physical difficulties such as restriction, using a computation efficient controller. The improvement over previous implementations is achieved by treating the motor as a velocity source to the elastic element, rather than as a torque source.
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|Item Type:||Conference Paper|
|Subjects:||Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100) > Adaptive Agents and Intelligent Robotics (080101)|
|Copyright Owner:||Copyright 2006 [please consult the author]|
|Deposited On:||23 Jun 2010 14:44|
|Last Modified:||23 Jun 2010 14:44|
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