Design, Modelling and Control of Novel Series-Elastic Actuators for Industrial Robots
José de Gea Fernández, Bingbin Yu, Vinzenz Bargsten, Michael Zipper, Holger Sprengel
In Actuators, MDPI, volume 9, number 1, pages 1-20, Jan/2020.
This paper describes data-driven modelling methods and its use for the control of a novel set of series-elastic actuators (SEAs). A set of elastic actuators was developed in order to fulfill the end-user needs for tailored industrial collaborative robot manipulators of different morphology and payload. Three different types of elastic actuation were investigated: namely, disc springs, coil springs and torsion bars. The developed algorithms were validated both on single actuators and on a 6-DOF robotic arm composed of such actuators
series-elastic actuators, human-robot collaboration, modularity, safety