Author
Kansızoğlu, Ahmet Talha, Sariyildiz, E., Uğurlu, Regaip Barkan
Publication Date
2018
Publication Place
-
IEEE
Subject
Series elastic actuator, Robustness, Force control
Type
Document
Language
English
Digital
Yes
Manuscript
No
Library
Özyeğin University
Library Asset ID
978-153861946-9
Record ID
0df337f9-8d0e-4e88-8865-cf6fba0d1434
Library Location
Mechanical Engineering
Date
2018
Notes
TÜBİTAK
Sample Text
This paper presents a comparison study for the robust force control of series elastic actuators (SEAs). In most robotics systems, SEAs are used as an essential actuation method due to the benefits such as lower reflected inertia and safety. However, the robustness to the modeling uncertainties and external disturbances is still a study material for researchers. It is known that when model-based control methods are used with disturbance observers, high precision tracking results can be obtained. Therefore, in this study, model predictive control and model-based feedforward control methods are investigated in different scenarios and simulation results are provided for comparison.
DOI
10.1109/AMC.2019.8371128
