Control issues for velocity sourced series elastic actuators

Wyeth, Gordon (2006). Control issues for velocity sourced series elastic actuators. In: Bruce MacDonald, Proceedings of the 2006 Australasian Conference on Robotics & Automation. Australasian Conference on Robotics and Automation 2006 (ACRA 2006), Auckland, New Zealand, (). 6-8 December 2006.


Author Wyeth, Gordon
Title of paper Control issues for velocity sourced series elastic actuators
Conference name Australasian Conference on Robotics and Automation 2006 (ACRA 2006)
Conference location Auckland, New Zealand
Conference dates 6-8 December 2006
Proceedings title Proceedings of the 2006 Australasian Conference on Robotics & Automation
Journal name Proceedings of the 2006 Australasian Conference on Robotics and Automation, ACRA 2006
Place of Publication Auckland, New Zealand
Publisher Australian Robotics and Automation Association (ARAA)
Publication Year 2006
Sub-type Fully published paper
ISBN 978-0-9587583-8-3
Editor Bruce MacDonald
Total pages 6
Language eng
Abstract/Summary 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 implementaion 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 stiction, 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.
Subjects 090602 Control Systems, Robotics and Automation
Keyword Series Elasic Actuators
Robots
Q-Index Code E1
Q-Index Status Provisional Code
Institutional Status Unknown
Additional Notes Full text of paper (pdf) available via Conference website.

 
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Created: Fri, 20 Mar 2009, 01:21:34 EST by Joanne Mellor on behalf of School of Information Technol and Elec Engineering