Evaluation and Comparison of SEA Torque Controllers in a Unified Framework

Evaluation and Comparison of SEA Torque Controllers in a Unified Framework

Rampeltshammer, Wolfgang (University of Twente)
Keemink, Arvid (University of Twente)
Sytsma, Menno (University of Twente)
van Asseldonk, Edwin (University of Twente)
van der Kooij, H. (TU Delft Support Biomechanical Engineering; University of Twente)

2023

Series elastic actuators (SEA) with their inherent compliance offer a safe torque source for robots that are interacting with various environments, including humans. These applications have high requirements for the SEA torque controllers, both in the torque response as well as interaction behavior with its environment. To differentiate state of the art torque controllers, this work introduces a unifying theoretical and experimental framework that compares controllers based on their torque transfer behavior, their apparent impedance behavior, and especially the passivity of the apparent impedance (i.e., their interaction stability) as well as their sensitivity to sensor noise. We compare classical SEA control approaches such as cascaded PID controllers and full state feedback controllers with advanced controllers using disturbance observers, acceleration feedback and adaptation rules. Simulations and experiments demonstrate the trade-off between stable interactions, high bandwidths and low noise levels. Based on these trade-offs, an application-specific controller can be designed and tuned, based on desired interaction with the respective environment.

apparent impedance
force control
interaction control
passive control
series elastic actuators

http://resolver.tudelft.nl/uuid:0eb238c1-e099-4261-a25f-79413048700f

https://doi.org/10.3390/act12080303

Actuators, 12 (8)

Institutional Repository

journal article

© 2023 Wolfgang Rampeltshammer, Arvid Keemink, Menno Sytsma, Edwin van Asseldonk, H. van der Kooij