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

Kazumasa Miura, Seiichiro Katsura

研究成果: Conference contribution

2 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016
出版社Institute of Electrical and Electronics Engineers Inc.
ページ716-720
ページ数5
ISBN(電子版)9781509020652
DOI
出版ステータスPublished - 2016 9月 26
イベント2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016 - Banff, Canada
継続期間: 2016 7月 122016 7月 15

出版物シリーズ

名前IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
2016-September

Other

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

ASJC Scopus subject areas

  • 電子工学および電気工学
  • 制御およびシステム工学
  • コンピュータ サイエンスの応用
  • ソフトウェア

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