Abstract— This contribution presents a comprehensible model based approach of a control structure to control the output force of series elastic actuators.
Jun 3, 2019 ˇ The model-based control method utilizes a dynamic model of the exoskeleton to compensate for its own dynamics. After this compensation of the ...
Abstract: This contribution presents a comprehensible model based approach of a control structure to control the output force of series elastic actuators.
This contribution presents a comprehensible model based approach of a control structure to control the output force of series elastic actuators.
Jun 3, 2019 ˇ Methods: The model-based control method utilizes a dynamic model of the exoskeleton to compensate for its own dynamics. After this compensation ...
Abstract: This paper describes data-driven modelling methods and its use for the control of a novel set of series-elastic actuators (SEAs).
This paper details the working principle, design and development of the actuator, stiffness and dynamic modeling, as well as a gain-scheduled PID controller.
People also ask
What is a series elastic actuator?
What are the benefits of series elastic actuators?
What is a controller in actuators?
What are the three types of actuator drives used to classify robots?
The results verify that the SEA with the model-based force control can provide high-fidelity force generation with small performance variation (8.57%). It can ...
Jul 31, 2022 ˇ This paper details the working principle, design and development of the actuator, stiffness and dynamic modeling, as well as a gain-scheduled ...
A control loop then servos the actuator to the desired output force. The resulting actuator has inherent shock tolerance, high force fidelity and extremely low.