scholarly journals Design, Modelling and Control of Novel Series-Elastic Actuators for Industrial Robots

Actuators ◽  
2020 ◽  
Vol 9 (1) ◽  
pp. 6 ◽  
Author(s):  
José de Gea Fernández ◽  
Bingbin Yu ◽  
Vinzenz Bargsten ◽  
Michael Zipper ◽  
Holger Sprengel
Keyword(s):  
Industrial Robots ◽  
Data Driven ◽  
User Needs ◽  
End User ◽  
Different Types ◽  
Series Elastic Actuators ◽  
And Control ◽  
Collaborative Robot ◽  
Modelling Methods ◽  
Series Elastic

This paper describes data-driven modelling methods and their use for the control of a novel set of series-elastic actuators (SEAs). A set of elastic actuators was developed in order to fulfill the end-user needs for tailored industrial collaborative robot manipulators of different morphologies and payloads. Three different types of elastic actuation were investigated, namely, disc springs, coil springs and torsion bars. The developed algorithms were validated both on single actuators and on a 6-DOF robotic arm composed of such actuators.

Modeling and Control of Nonlinear Series Elastic Actuator

2007 ◽  
Author(s):  
Ehsan Basafa ◽  
Hassan Salarieh ◽  
Aria Alasty
Keyword(s):  
Nonlinear Models ◽  
Human Gait ◽  
Output Impedance ◽  
Modeling And Control ◽  
Series Elastic Actuator ◽  
Scheduling Method ◽  
Normal Human ◽  
Series Elastic Actuators ◽  
And Control ◽  
Series Elastic

Series Elastic Actuators are force actuators with applications in robotics and biomechanics. In linear Series Elastic Actuators, a large force bandwidth requires a stiff sensor (spring), but the output impedance puts an upper limit on this parameter, therefore selecting the proper spring is difficult in these actuators. In this paper, Series Elastic Actuator is modeled with a nonlinear, stiffening spring and controlled using the Gain Scheduling method. Simulations show that both linear and nonlinear models have similar force bandwidths, but the nonlinear one shows much lower output impedance. Hence, the choice of spring for actuator design is an easier task than that of the linear model. Also, as a force-augmenting device for the knee joint in normal human gait, the nonlinear model acts better in simulations.

Modeling and Control of Four-bar Mechanism with Series Elastic Actuators

2020 ◽  
Author(s):  
Felipe R. Lopes ◽  
Marco A. Meggiolaro
Keyword(s):  
Human Interaction ◽  
Robotic Manipulation ◽  
Modeling And Control ◽  
Lqr Control ◽  
In Series ◽  
Flexible Behavior ◽  
Series Elastic Actuators ◽  
New Generation ◽  
And Control ◽  
Series Elastic

A new generation of robots that work in cooperation with humans (called collaborative robots) needs some flexibility to adapt to the environment and activities with people. That is why the Series Elastic Actuator (SEA) has been a breakthrough in actuator technologies. The idea of inserting an elastic element in series with a motor allows a lower output impedance, consequently a flexible behavior in the manipulator, in addition to providing torque feedback to better compensate disturbances caused e.g. by friction losses. This article presents a four-bar mechanism with SEA for the purpose of robotic manipulation. Its kinematics and dynamicsare studied, as well as its regulation and trajectory control. The behavior of the decoupled four-bar mechanism and the characteristics of the SEA are also analyzed. Then the regulation control of the complete system is carried out using LQR control. Finally, a circular trajectory is controlled in a simulation to validate the proposed control strategy. The simulation results show the effectiveness of the proposed controller for the mechanism in the presence of SEAs estimating torque and providing the desired compliance for human interaction.

scholarly journals Optimizing Interactive Systems with Data-Driven Objectives

2019 ◽  
Author(s):  
Ziming Li
Keyword(s):  
Prior Knowledge ◽  
User Experience ◽  
User Behavior ◽  
Interactive Systems ◽  
Data Driven ◽  
User Needs ◽  
User Interactions ◽  
Different Types ◽  
User Actions

Effective optimization is essential for interactive systems to provide a satisfactory user experience. However, it is often challenging to find an objective to optimize for. Generally, such objectives are manually crafted and rarely capture complex user needs in an accurate manner. We propose to infer the objective directly from observed user interactions. These inferences can be made regardless of prior knowledge and across different types of user behavior. It is promising if we model the objectives directly from the user interactions which we use to optimize interactive systems, which will improve user experience and dynamically reacts to user actions.

scholarly journals A Sliding Mode Force and Position Controller Synthesis for Series Elastic Actuators

Robotica ◽  
2019 ◽  
Vol 38 (1) ◽  
pp. 15-28 ◽  
Author(s):  
Emre Sariyildiz ◽  
Rahim Mutlu ◽  
Haoyong Yu
Keyword(s):  
Force Control ◽  
Dynamic Models ◽  
Position Control ◽  
Sliding Mode ◽  
Dynamic Environment ◽  
Industrial Robots ◽  
Motion Controller ◽  
Mismatched Disturbances ◽  
Series Elastic Actuators ◽  
Series Elastic

SummaryThis paper deals with the robust force and position control problems of series elastic actuators (SEAs). It is shown that an SEA’s force control problem can be described by a second-order dynamic model which suffers from only matched disturbances. However, the position control dynamics of an SEA is of fourth order and includes matched and mismatched disturbances. In other words, an SEA’s position control is more complicated than its force control, particularly when disturbances are considered. A novel robust motion controller is proposed for SEAs by using disturbance observer (DOb) and sliding mode control. When the proposed robust motion controller is implemented, an SEA can precisely track desired trajectories and safely contact with an unknown and dynamic environment. The proposed motion controller does not require precise dynamic models of environments and SEAs. Therefore, it can be applied to many different advanced robotic systems such as compliant humanoids, industrial robots and exoskeletons. The validity of the proposed motion controller is experimentally verified.

scholarly journals Multistable series elastic actuators: Design and control

2019 ◽  
Vol 118 ◽  
pp. 167-178
Author(s):  
Leonardo Cappello ◽  
Michele Xiloyannis ◽  
Binh Khanh Dinh ◽  
Alberto Pirrera ◽  
Filippo Mattioni ◽  
...  
Keyword(s):  
Series Elastic Actuators ◽  
And Control ◽  
Series Elastic

Knowledge and Awareness of Dengue Fever

2018 ◽  
pp. 219-222
Author(s):  
Y. Arockia Suganthi ◽  
Chitra K. ◽  
J. Magelin Mary
Keyword(s):  
Dengue Fever ◽  
Prevention And Control ◽  
Control Measures ◽  
Infection Transmission ◽  
Standard Guideline ◽  
The World ◽  
Different Types ◽  
Prevention And Control Measures ◽  
Dengue Prevention ◽  
And Control

Dengue fever is a painful mosquito-borne infection caused by different types of virus in various localities of the world. There is no particular medicine or vaccine to treat person suffering from dengue fever. Dengue viruses are transmitted by the bite of female Aedes (Ae) mosquitoes. Dengue fever viruses are mainly transmitted by Aedes which can be active in tropical or subtropical climates. Aedes Aegypti is the key step to avoid infection transmission to save millions of people in all over the world. This paper provides a standard guideline in the planning of dengue prevention and control measures. At the same time gives the priorities including clinical management and hospitalized dengue patients have to address essentially.

EURODEMO: End-user needs

2009 ◽  
Vol 17 (3) ◽  
pp. 333-334 ◽  
Author(s):  
David Edwards
Keyword(s):  
User Needs ◽  
End User
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