Modeling, Analysis and Control of a Class of Elastically Joints-actuated Multibody Systems

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.

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Modeling, Analysis and Control of a Class of Elastically Joints-actuated Multibody Systems
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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.

Keywords:Robotics, Modelling, Elastic actuation
Subjects:H Engineering > H660 Control Systems
H Engineering > H671 Robotics
Divisions:College of Science > School of Computer Science
ID Code:32227
Deposited On:20 Oct 2018 21:03

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