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- W2771815342 abstract "Series Elastic Actuator(SEA) has been emerging as a novel and potential actuator system for many robotic applications. It is well known that SEA can achieve high compliance which realizes safe interaction between humans and robots. On the other hand, precision position control has been considered difficult in SEA applications. A novel control configuration for SEA position control is proposed in this paper to address this problem. Resonance Ratio Control (RRC) which has been applied for flexible system control is applied to an SEA, and it is compared with the conventional SEA position control strategy. In particular, the similarity of RRC and the force control of SEA is explained, and the control performances using two methodologies are compared." @default.
- W2771815342 created "2017-12-22" @default.
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- W2771815342 date "2017-10-01" @default.
- W2771815342 modified "2023-09-25" @default.
- W2771815342 title "Comparison of resonance ratio control and inner force control for series elastic actuator" @default.
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- W2771815342 doi "https://doi.org/10.1109/iecon.2017.8217329" @default.
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