Environmental-Interaction Robotic Systems: Compliant Actuation Approach | Zendy

Reza Ghorbani | Zendy; Qiong Wu | Zendy

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Environmental-Interaction Robotic Systems: Compliant Actuation Approach

Author(s) -

Reza Ghorbani,

Qiong Wu

Publication year - 2007

Publication title -

international journal of advanced robotic systems

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.394

H-Index - 46

eISSN - 1729-8814

pISSN - 1729-8806

DOI - 10.5772/5705

Subject(s) - actuator , computer science , mechanism (biology) , stiffness , controller (irrigation) , control theory (sociology) , range (aeronautics) , control engineering , simulation , control (management) , artificial intelligence , aerospace engineering , engineering , physics , agronomy , quantum mechanics , biology , structural engineering

Many successful designs of compliant actuators have been recently proposed. However, the challenge of providing passive and active motion in one actuator has remained. In this paper, a novel mechanism for changing the stiffness of the series elastic actuator over a wide range is presented. An accurate force source is provided by introducing the force control using velocity control of the DC motor. Performance and behaviour of the system and controller is investigated through simulation

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