TY - GEN
T1 - Passive and accurate torque control of series elastic actuators
AU - Vallery, Heike
AU - Ekkelenkamp, Ralf
AU - Van Der Kooij, Herman
AU - Buss, Martin
PY - 2007
Y1 - 2007
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=51349098485&partnerID=8YFLogxK
U2 - 10.1109/IROS.2007.4399172
DO - 10.1109/IROS.2007.4399172
M3 - Conference contribution
AN - SCOPUS:51349098485
SN - 1424409128
SN - 9781424409129
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 3534
EP - 3538
BT - Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
T2 - 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
Y2 - 29 October 2007 through 2 November 2007
ER -