Frequency Domain Analysis of Nonlinear Series Elastic Actuator via Describing Function

Autor:	Hirao, Motohiro, Kurkcu, Burak, Ghanbarpour, Alireza, Tomizuka, Masayoshi
Rok vydání:	2023
Předmět:	Computer Science - Robotics
Druh dokumentu:	Working Paper
Popis:	Nonlinear stiffness SEAs (NSEAs) inspired by biological muscles offer promise in achieving adaptable stiffness for assistive robots. While assistive robots are often designed and compared based on torque capability and control bandwidth, NSEAs have not been systematically designed in the frequency domain due to their nonlinearity. The describing function, an analytical concept for nonlinear systems, offers a means to understand their behavior in the frequency domain. This paper introduces a frequency domain analysis of nonlinear series elastic actuators using the describing function method. This framework aims to equip researchers and engineers with tools for improved design and control in assistive robotics. Comment: accepted by 2023 IEEE ROBIO conference
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/2310.03888 Zobrazit plný text záznamu View this record from Arxiv