Force control and force observer design of series elastic actuator ...
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The dynamic characteristics of SEA are analyzed theoretically and experimentally, and feedback controllers based on the derived dynamics is proposed.
Force control and force observer design of series elastic actuator based on its dynamic characteristics. November 2015. DOI:10.1109/IECON.2015.7392823.
Aug 25, 2017 · Based on the analyzed dynamics, force observers are designed and verified through simulations and experiments. An XY stage driven by RFSEAs is ...
Missing: characteristics. | Show results with:characteristics.
This paper tackles this problem by demonstrating imprecise force observation of the spring deformation and proposing two types of external force observers to ...
This paper analyzes the control challenges associated to lightweight series elastic systems in force control applications.
Missing: characteristics. | Show results with:characteristics.
Sehoon Oh , Chan Lee, Kyoungchul Kong: Force control and force observer design of series elastic actuator based on its dynamic characteristics.
This paper demonstrates the imprecise force observation of the spring deformation and proposes two types of external force observers to address the problem, ...
The force control of a series elastic actuator (SEA) relies on accurate force estimation, dynamic modeling and contact force control, etc. The most direct ...
May 7, 2019 · To design the model-based force control, the general dynamics of the SEA is derived from the free-body diagram in Figure 6 as follows: ...
Jan 15, 2023 · In this paper, a model-free force controller (MFFC) for the SEA is developed, which relies only on the input–output measurement.
Missing: characteristics. | Show results with:characteristics.