ARCHITECTURE FOR ROBUST FORCE AND IMPEDANCE CONTROL OF SERIES ELASTIC ACTUATORS

摘要

PPROBLEM TO BE SOLVED: To provide an SEA architecture for controlling torque applied by an SEA without calculating a force error or directly measuring an elastic SEA element with a strain gauge. PSOLUTION: The SEA architecture 30 includes a motor 32 coupled to one end of an elastic spring 36, and a load 38 coupled to an opposite end of the elastic spring, where the motor drives the load through the spring. The orientation of the shaft of the motor and the load are measured by position sensors. Position signals from the position sensors are sent to an embedded processor 44, which determines the orientation of the load relative to the motor shaft to determine the torque on the spring. The embedded processor receives reference torque signals from a remote controller 46, and the embedded processor operates a high-speed servo loop about the desired joint torque. The remote controller determines the joint torque based on higher order objectives by their impedance or positioning objectives. PCOPYRIGHT: (C)2011,JPO&INPIT