Design and Implementation of a Dual Axis Motor Controller for Parallel and Serial Series Elastic Actuators
This paper discusses the design and implementation of a high performance, custom control solution for series elastic actuators (SEA) in a parallel or serial configuration. In many modern robotics applications, controlling actuator output force accurately and with high bandwidth is extremely importan...
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ndltd-VTETD-oai-vtechworks.lib.vt.edu-10919-473592020-09-29T05:47:14Z Design and Implementation of a Dual Axis Motor Controller for Parallel and Serial Series Elastic Actuators Ressler, Stephen Andrew Electrical and Computer Engineering Martin, Thomas L. Hong, Dennis W. Woolsey, Craig A. Series Elastic Actuator Motor Controller Humanoid Robot This paper discusses the design and implementation of a high performance, custom control solution for series elastic actuators (SEA) in a parallel or serial configuration. In many modern robotics applications, controlling actuator output force accurately and with high bandwidth is extremely important. The series elastic actuator has become popular in applications which require precise force control, however currently not many commercial options exist. Commonly, these actuators are custom designed and use electric motors, however most off-the-shelf electric motor drives are not designed for this specific application. In this paper, the hardware and software architecture of a control device designed specifically for force controlled series elastic actuators is described, along with test results on a novel SEA design. Master of Science 2014-04-15T08:01:05Z 2014-04-15T08:01:05Z 2014-04-14 Thesis vt_gsexam:2721 http://hdl.handle.net/10919/47359 In Copyright http://rightsstatements.org/vocab/InC/1.0/ ETD application/pdf application/pdf Virginia Tech |
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Series Elastic Actuator Motor Controller Humanoid Robot |
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Series Elastic Actuator Motor Controller Humanoid Robot Ressler, Stephen Andrew Design and Implementation of a Dual Axis Motor Controller for Parallel and Serial Series Elastic Actuators |
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This paper discusses the design and implementation of a high performance, custom control solution for series elastic actuators (SEA) in a parallel or serial configuration. In many modern robotics applications, controlling actuator output force accurately and with high bandwidth is extremely important. The series elastic actuator has become popular in applications which require precise force control, however currently not many commercial options exist. Commonly, these actuators are custom designed and use electric motors, however most off-the-shelf electric motor drives are not designed for this specific application. In this paper, the hardware and software architecture of a control device designed specifically for force controlled series elastic actuators is described, along with test results on a novel SEA design. === Master of Science |
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Electrical and Computer Engineering |
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Electrical and Computer Engineering Ressler, Stephen Andrew |
author |
Ressler, Stephen Andrew |
author_sort |
Ressler, Stephen Andrew |
title |
Design and Implementation of a Dual Axis Motor Controller for Parallel and Serial Series Elastic Actuators |
title_short |
Design and Implementation of a Dual Axis Motor Controller for Parallel and Serial Series Elastic Actuators |
title_full |
Design and Implementation of a Dual Axis Motor Controller for Parallel and Serial Series Elastic Actuators |
title_fullStr |
Design and Implementation of a Dual Axis Motor Controller for Parallel and Serial Series Elastic Actuators |
title_full_unstemmed |
Design and Implementation of a Dual Axis Motor Controller for Parallel and Serial Series Elastic Actuators |
title_sort |
design and implementation of a dual axis motor controller for parallel and serial series elastic actuators |
publisher |
Virginia Tech |
publishDate |
2014 |
url |
http://hdl.handle.net/10919/47359 |
work_keys_str_mv |
AT resslerstephenandrew designandimplementationofadualaxismotorcontrollerforparallelandserialserieselasticactuators |
_version_ |
1719346574000128000 |