An experimental study on energy-based control of rigid parallel series elastic actuator

Mavinkurve, Ujjal Krishnanand, Tafrishi, Seyed Amir ORCID: https://orcid.org/0000-0001-9829-3144, Kanada, Ayato, Honda, Koki, Nakashima, Yasutaka and Yamamoto, Motoji 2021. An experimental study on energy-based control of rigid parallel series elastic actuator. Presented at: 2021 World Automation Congress (WAC), Taipei, Taiwan, 01-05 August 2021. 2021 World Automation Congress (WAC). IEEE, 10.23919/WAC50355.2021.9559477

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Abstract

Parallel elastic actuators (PEA) find a growing interest in many research areas ranging from rehabilitation devices to industrial robots on account of their ability to save energy as well as providing passive impact absorption. PEAs are actuators with elements of compliance, such as springs connected in parallel between the actuator and the load. The majority of these PEA mechanisms rely on clutches that require a high amount of power in a short amount of time. Furthermore, these PEA can only switch between a state of complete rigidity to constant stiffness. We consider the emerging design of rigid parallel series elastic actuators (RPSEA) which, in addition to the advantages provided by parallel elastic actuators, uses a motor instead of a clutch-based mechanism to manipulate the stiffness. We develop an experimental setup of the RPSEA and compare an Energy-based control method with a conventional PID control. The response of the two controllers is evaluated under disturbance and presented in this paper.

Item Type:	Conference or Workshop Item (Paper)
Date Type:	Published Online
Status:	Published
Schools:	Engineering Computer Science & Informatics
Publisher:	IEEE
ISBN:	978-1-68524-111-7
Date of First Compliant Deposit:	2 February 2023
Date of Acceptance:	19 June 2021
Last Modified:	03 Feb 2023 13:30
URI:	https://orca.cardiff.ac.uk/id/eprint/156475

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