Design, Modelling and Control of Novel Series-Elastic Actuators for Industrial Robots
José de Gea Fernández, Bingbin Yu, Vinzenz Bargsten, Michael Zipper, Holger Sprengel
Abstract
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.
Topics & Concepts
ActuatorRobotControl engineeringTorsion (gastropod)Computer scienceSeries (stratigraphy)Set (abstract data type)Robotic armEngineeringRoboticsTorsion springControl theory (sociology)Mechanical engineeringArtificial intelligenceControl (management)GeologySurgeryProgramming languagePaleontologyMedicineProsthetics and Rehabilitation RoboticsRobotic Mechanisms and DynamicsRobot Manipulation and Learning