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In this paper, a practical control approach is suggested for series elastic actuators(SEAs) to generate the desired torque. Firstly, based on the analysis of a nonlinear SEA, the generic dynamics for a class of SEAs is summarized. Then the dynamic equations are transformed into a novel state-space form which is convenient for controller design. Finally, based on the recently developed finite-time...
Series Elastic Actuator (SEA) is a powerful device in the area of human-machine collaboration, but it still suffers from difficult position control issues, mainly because the variables and order of dynamics become twice that of the rigid one. Therefore, an efficient approach is proposed to solve this problem in this paper. The approach design is divided into two steps: feedback linearization (FL)...
This paper presents a practical control approach for series elastic actuators(SEAs) to generate the desired torque. Specifically, the controller is applicable to both linear and nonlinear SEAs and it works well even in the presence of unknown payload parameters and external disturbances. Via the analysis and transformation of the SEA dynamics, a lumped disturbance signal is constructed and a form...
The stringent requirements on both the control bandwidth and the supply standby current make it tough to design the IC controllers for the v-core converters in future computer applications. The effects of the non-ideal characteristics of the finite gain-bandwidth product and non-zero output impedance of an operational amplifier (OP) are investigated for such a purpose. The results show surprising...
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