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 language | English |
|---|---|
| Title of host publication | 2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 716-720 |
| Number of pages | 5 |
| Volume | 2016-September |
| ISBN (Electronic) | 9781509020652 |
| DOIs | |
| Publication status | Published - 2016 Sep 26 |
| Event | 2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016 - Banff, Canada Duration: 2016 Jul 12 → 2016 Jul 15 |
Other
| Other | 2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016 |
|---|---|
| Country | Canada |
| City | Banff |
| Period | 16/7/12 → 16/7/15 |
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ASJC Scopus subject areas
- Electrical and Electronic Engineering
- Control and Systems Engineering
- Computer Science Applications
- Software
Cite this
Experimental validation of forward- and back-drivable characteristics on series clutch actuators using acceleration control. / Miura, Kazumasa; Katsura, Seiichiro.
2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016. Vol. 2016-September Institute of Electrical and Electronics Engineers Inc., 2016. p. 716-720 7576852.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Experimental validation of forward- and back-drivable characteristics on series clutch actuators using acceleration control
AU - Miura, Kazumasa
AU - Katsura, Seiichiro
PY - 2016/9/26
Y1 - 2016/9/26
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84992386922&partnerID=8YFLogxK
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U2 - 10.1109/AIM.2016.7576852
DO - 10.1109/AIM.2016.7576852
M3 - Conference contribution
AN - SCOPUS:84992386922
VL - 2016-September
SP - 716
EP - 720
BT - 2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016
PB - Institute of Electrical and Electronics Engineers Inc.
ER -