A comparison study on observer-based force control of series elastic actuators

Name: A comparison study on observer-based force control of series elastic actuators
Author: Kansızoğlu, Ahmet Talha, Sariyildiz, E., Uğurlu, Regaip Barkan

İsim	A comparison study on observer-based force control of series elastic actuators
Yazar	Kansızoğlu, Ahmet Talha, Sariyildiz, E., Uğurlu, Regaip Barkan
Basım Tarihi:	2018
Basım Yeri	- IEEE
Konu	Series elastic actuator, Robustness, Force control
Tür	Belge
Dil	İngilizce
Dijital	Evet
Yazma	Hayır
Kütüphane:	Özyeğin Üniversitesi
Demirbaş Numarası	978-153861946-9
Kayıt Numarası	0df337f9-8d0e-4e88-8865-cf6fba0d1434
Lokasyon	Mechanical Engineering
Tarih	2018
Notlar	TÜBİTAK
Örnek Metin	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

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A comparison study on observer-based force control of series elastic actuators

Yazar Kansızoğlu, Ahmet Talha, Sariyildiz, E., Uğurlu, Regaip Barkan

Basım Tarihi 2018

Basım Yeri - IEEE

Konu Series elastic actuator, Robustness, Force control

Tür Belge

Dil İngilizce

Dijital Evet

Yazma Hayır

Kütüphane Özyeğin Üniversitesi

Demirbaş Numarası 978-153861946-9

Kayıt Numarası 0df337f9-8d0e-4e88-8865-cf6fba0d1434

Lokasyon Mechanical Engineering

Tarih 2018

Notlar TÜBİTAK

Örnek Metin 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