Experimental validation of forward- and back-drivable characteristics on series clutch actuators using acceleration control

Kazumasa Miura, Seiichiro Katsura

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

The development of a geared motor plus a clutch system is known as a human-friendly actuator, and many studies on clutch actuation systems have been conducted. Such system has high backdrivability and torque limitation, which are major advantages compared with a unit geared motor. These studies are divided into two groups. An input motor is velocity-controlled as a constant velocity source and it is regulated to generate output torque as a torque source. This study falls under the latter group. A control plant of the latter group has two operational modes, which has caused by the intrinsic clutch characteristics. To avoid switching operational modes and to achieve robustness against disturbances, an observer-based control technique using acceleration control has been proposed. However, forward- and back-drivable characteristics of the system have not been discussed yet. These characteristics are important for control of physical human-robot interaction, and therefore, in this study, transfer functions of the characteristics of the proposed system are derived and experimental evaluation of the system is conducted.

Original languageEnglish
Title of host publication2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages716-720
Number of pages5
Volume2016-September
ISBN (Electronic)9781509020652
DOIs
Publication statusPublished - 2016 Sep 26
Event2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016 - Banff, Canada
Duration: 2016 Jul 122016 Jul 15

Other

Other2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016
CountryCanada
CityBanff
Period16/7/1216/7/15

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Computer Science Applications
  • Software

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  • Cite this

    Miura, K., & Katsura, S. (2016). Experimental validation of forward- and back-drivable characteristics on series clutch actuators using acceleration control. In 2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016 (Vol. 2016-September, pp. 716-720). [7576852] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AIM.2016.7576852