Accurate Estimation of the Spring Stiffness in Series Elastic Actuators
- Resource Type
- Conference
- Authors
- Gong, Xin-Ru; Chen, Xin-Wei; Yin, Wei; Sun, Wei-Chao; Sun, Lei
- Source
- 2017 IEEE 7th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems (CYBER) CYBER Technology in Automation, Control, and Intelligent Systems (CYBER), 2017 IEEE 7th Annual International Conference on. :382-387 Jul, 2017
- Subject
- Bioengineering
Communication, Networking and Broadcast Technologies
Components, Circuits, Devices and Systems
Computing and Processing
General Topics for Engineers
Power, Energy and Industry Applications
Robotics and Control Systems
Signal Processing and Analysis
Transportation
Springs
Torque
Hysteresis motors
Sea measurements
Actuators
Estimation
Manganese
Least squares method
Series Elastic Actuators
- Language
In this paper the stiffness coefficient of springs using in Series Elastic Actuator (SEA) is obtained. The springs are assembled between the motor and the load of SEA. It is important to estimate the stiffness of SEA for controller design. By analyzing the mathematical model, an estimate method is proposed with the least squares method. The relationship of the rotation angle of the motor and the torque generated by the spring turns out to be linear and the coefficient of springs is obtained. The effectiveness of the proposed estimate method is verified by experiments.