Series Elastic Actuator Real time torque control
Torque Control Methods for Series Elastic Actuators
The series of codes are used to actuate and realize the real-time torque control of a Series Elastic Actuator (SEA). A SEA consists of an Electromagnetic Motor (EM), a reduction gear and an elastic element. Our actuator is comprised of a frameless and brushless motor (Kollmorgen TBM-7631) and a harmonic gearbox (Harmonic Drive CSG-25 with a conversion ratio of 1:100) in addition to a custom designed torsional spring. Both the motor side and the spring side are mounted with 39-Bit rotary encoders (Broadcom AS-38-H39E).
The set of codes provided here includes five different methods for controlling the torque output of the system; namely Proportional Integral Derivative Control (PID), cascaded PID control, Cascaded PID control with a disturbance observer (DoB), differential flatness (DF) with a DoB, feedforward (FF) PID control with a DoB and Sliding Mode Control (SMC).
Series Elastic Actuator Real time torque control
Ahmet Talha Kansizoglu, Ozyegin University
Emre Sariyildiz, University of Wollongong
Sinan Coruk, Ozyegin University
Barkan Ugurlu, Ozyegin University
barkan ugurlu barkan.ugurlu@ozyegin.edu.tr
MIT license
Benchmarking Torque Control Strategies for a Torsion based Series Elastic Actuator
IEEE Robotics and Automation Magazine (yet to be published)