Modeling and control of a cable-driven series elastic actuator
(1701.03913)Abstract
Series elastic actuators (SEA) are playing an increasingly important role in the fields of physical human-robot interaction. This paper focuses on the modeling and control of a cable-driven SEA. First, the scheme of the cable-driven SEA has been proposed, and a velocity controlled DC motor has been used as its power source. Based on this, the model of the cable-driven SEA has been built up. Further, a two degrees of freedom (2-DOF) control approach has been employed to control the output torque. Simulation results have shown that the 2-DOF method has achieved better robust performance than the PD method.
We're not able to analyze this paper right now due to high demand.
Please check back later (sorry!).
Generate a summary of this paper on our Pro plan:
We ran into a problem analyzing this paper.