| Autor: |
Jose De Gea Fernandez, Bingbin Yu, Vinzenz Bargsten, Michael Zipper, Holger Sprengel |
| Jazyk: |
angličtina |
| Rok vydání: |
2020 |
| Předmět: |
|
| Zdroj: |
Actuators, Vol 9, Iss 1, p 6 (2020) |
| Druh dokumentu: |
article |
| ISSN: |
2076-0825 |
| DOI: |
10.3390/act9010006 |
| Popis: |
This paper describes data-driven modelling methods and their use for the control of a novelset of series-elastic actuators (SEAs). A set of elastic actuators was developed in order to fulfill theend-user needs for tailored industrial collaborative robot manipulators of different morphologiesand payloads. 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 andon a 6-DOF robotic arm composed of such actuators. |
| Databáze: |
Directory of Open Access Journals |
| Externí odkaz: |
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