Passive and accurate torque control of series elastic actuators

Heike Vallery, Ralf Ekkelenkamp, Herman Van Der Kooij, Martin Buss

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

157 Scopus citations

Abstract

The principle of Series Elastic Actuation offers considerable advantages for haptic displays compared to stiff actuators. The interaction force between motor and load is directly proportional to their relative position, which corresponds to the elongation of the elastic element. This way, the torque control task is transformed to a position control task, which comes natural to traditional DC motors. In this paper, several existing control strategies are analyzed and compared with respect to passivity concerns. Cascaded control with a fast inner velocity loop results to be the best option. Based on the analysis, boundaries for the parameters are presented, such that the force controller may contain integral action without jeopardizing passivity.

Original languageEnglish
Title of host publicationProceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
Pages3534-3538
Number of pages5
DOIs
StatePublished - 2007
Event2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 - San Diego, CA, United States
Duration: 29 Oct 20072 Nov 2007

Publication series

NameIEEE International Conference on Intelligent Robots and Systems

Conference

Conference2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
Country/TerritoryUnited States
CitySan Diego, CA
Period29/10/072/11/07

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