Liu, Pengcheng
(2014)
Modeling, Analysis and Control of a Class of Elastically Joints-actuated Multibody Systems.
In: The 3rd Sustainable e-Tourism Research and Applications Workshop, Bournemouth.
Modeling, Analysis and Control of a Class of Elastically Joints-actuated Multibody Systems | | ![[img]](http://eprints.lincoln.ac.uk/32227/1.hassmallThumbnailVersion/Modeling%2C%20Analysis%20and%20Control%20of%20a%20Class%20of%20Elastically%20Joints-actuated%20Multibody%20Systems.pdf) [Download] |
|
![[img]](http://eprints.lincoln.ac.uk/32227/1.hassmallThumbnailVersion/Modeling%2C%20Analysis%20and%20Control%20of%20a%20Class%20of%20Elastically%20Joints-actuated%20Multibody%20Systems.pdf)  Preview |
|
PDF
Modeling, Analysis and Control of a Class of Elastically Joints-actuated Multibody Systems.pdf
- Whole Document
392kB |
Item Type: | Conference or Workshop contribution (Presentation) |
---|
Item Status: | Live Archive |
---|
Abstract
The majority of elastic actuator mechanisms are based on the series elastic actuator (SEA) configuration. Elastic actuator has the advantage of high bandwidth mechanical compliance and can be used in force control. To increase suitability for different situations, a number of mechanisms extend the SEA allowing what is termed variable, adjustable or controllable stiffness. Adding compliance reduces the bandwidth and requires more control effort.
Repository Staff Only: item control page