Modeling and control of a cable-driven series elastic actuator
This work addresses control improvements for series elastic actuators in physical human-robot interaction, but it appears incremental as it builds on existing methods.
The paper tackled modeling and control of a cable-driven series elastic actuator, proposing a scheme with a velocity-controlled DC motor and using a two degrees of freedom control approach, which simulation results showed achieved better robust performance than a PD method.
Series elastic actuators (SEA) are playing an increasingly important role in the fields of physical human-robot interaction. This paper focuses on the modeling and control of a cable-driven SEA. First, the scheme of the cable-driven SEA has been proposed, and a velocity controlled DC motor has been used as its power source. Based on this, the model of the cable-driven SEA has been built up. Further, a two degrees of freedom (2-DOF) control approach has been employed to control the output torque. Simulation results have shown that the 2-DOF method has achieved better robust performance than the PD method.