TY - GEN
T1 - Cascade control for SEAs and its performance analysis
AU - Huang, Yuancan
AU - Ke, Yin
AU - Li, Fangxing
AU - Li, Shuai
N1 - Publisher Copyright:
© 2017, Springer International Publishing AG.
PY - 2017
Y1 - 2017
N2 - Serial Elastic Actuators (SEAs) have several superiorities over conventional rigid actuators e.g., greater shock tolerance, energy storage, safety, and so on. However, there exist performance limitations due to existence of elasticity in SEAs, i.e., low accuracy in position control, low control bandwidth in force control as coupling stability is guaranteed, and impedance constraints in impedance control. Variable Stiffness Actuators (VSAs) are designed to address the performance degradation but increases complexity in mechanism. As a result, control in SEAs plays a more important role than that in their rigid counterparts. We address this challenge by cascade control severing as the same purpose as that of VSAs’ without losing favorable advantages of SEAs to imitate humanoid manipulation. Then stability and passivity constraints is derived. Performance analysis is conducted in terms of quasi-rigid performance and apparent stiffness. Finally, experiments are carried out to test performance of the suggested control scheme.
AB - Serial Elastic Actuators (SEAs) have several superiorities over conventional rigid actuators e.g., greater shock tolerance, energy storage, safety, and so on. However, there exist performance limitations due to existence of elasticity in SEAs, i.e., low accuracy in position control, low control bandwidth in force control as coupling stability is guaranteed, and impedance constraints in impedance control. Variable Stiffness Actuators (VSAs) are designed to address the performance degradation but increases complexity in mechanism. As a result, control in SEAs plays a more important role than that in their rigid counterparts. We address this challenge by cascade control severing as the same purpose as that of VSAs’ without losing favorable advantages of SEAs to imitate humanoid manipulation. Then stability and passivity constraints is derived. Performance analysis is conducted in terms of quasi-rigid performance and apparent stiffness. Finally, experiments are carried out to test performance of the suggested control scheme.
KW - Cascade control
KW - Performance analysis
KW - SEAs
KW - Stiffness
UR - http://www.scopus.com/inward/record.url?scp=85028359247&partnerID=8YFLogxK
U2 - 10.1007/978-3-319-65292-4_71
DO - 10.1007/978-3-319-65292-4_71
M3 - Conference contribution
AN - SCOPUS:85028359247
SN - 9783319652917
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 823
EP - 834
BT - Intelligent Robotics and Applications - 10th International Conference, ICIRA 2017, Proceedings
A2 - Huang, YongAn
A2 - Wu, Hao
A2 - Yin, Zhouping
A2 - Liu, Honghai
PB - Springer Verlag
T2 - 10th International Conference on Intelligent Robotics and Applications, ICIRA 2017
Y2 - 16 August 2017 through 18 August 2017
ER -
