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CSME 2019/12
Volume 40 No.6
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693-701
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Design and Control of a Novel Two Different Stiffness Series Elastic Actuator
Kai-Yang Yina, Kui Xiangb, Jing Chenb and Mu-Ye Pangb
aSchool of Automation, Wuhan University of Technology, Wuhan 430070, P.R. China and lecturer, School of Electrical and Mechanical Engineering, Pingdingshan University, Pingdingshan 467000, China
bSchool of Automation, Wuhan University of Technology, Wuhan 430070, China.
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Abstract:
Series elastic actuators (SEA) are desirable for human-centered robotics. However, conventional series elastic actuators face a performance limitation due to the compromise on the elastic element stiffness selection. This paper presents a novel two different stiffness series elastic actuator (DSSEA) and an optimal controller for it to address the performance limitation. In particular, two both stiffness and length are different springs were chosen as the elastic element of the DSSEA. The low stiffness spring single used to deal with the low force operation and the two spring combined used to handle the large force operation. To address the challenge of the smooth transition between those two operation cases, a segmental model-based feedback controller with feedforward compensation is proposed, and a smooth switching controller is designed to handle the transition interval. The experimental results from DSSEA prototype demonstrate that the proposed controller can achieve excellent force tracking performance at both low, high, and wide-bound force range operation.
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Keywords: Series Elastic Actuator; Segmental control; Smooth switching control; Linear quadratic regulator
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*Corresponding author; e-mail:
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©
2019
CSME , ISSN 0257-9731
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