Torque control of a cable-driven series elastic actuator using the 2-DOF method

Zou, Wulin; Tan, Wen; Yang, Zhuo; Yu, Ningbo

doi:10.1109/chicc.2016.7554337

Cited by 2 publications

(1 citation statement)

References 18 publications

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“…Theories and practice about the 2-DOF control can be found in [16]- [18]. Detailed simulation results of torque control using the 2-DOF control method for a cable-driven SEA have been presented in our previous work [19].…”

Section: Introductionmentioning

confidence: 99%

Impedance control of a cable-driven series elastic actuator with the 2-DOF control structure

Zou

Yang

Tan

et al. 2016

2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Series elastic actuators (SEAs) are growingly important in physical human-robot interaction (HRI) due to their inherent safety and compliance. Cable-driven SEAs also allow flexible installation and remote torque transmission, etc. However, there are still challenges for the impedance control of cable-driven SEAs, such as the reduced bandwidth caused by the elastic component, and the performance balance between reference tracking and robustness. In this paper, a velocity sourced cable-driven SEA has been set up. Then, a stabilizing 2 degrees of freedom (2-DOF) control approach was designed to separately pursue the goals of robustness and torque tracking. Further, the impedance control structure for humanrobot interaction was designed and implemented with a torque compensator. Both simulation and practical experiments have validated the efficacy of the 2-DOF method for the control of cable-driven SEAs.

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Section: Introductionmentioning

confidence: 99%