Series Elastic Actuator Real time torque control

Torque Control Methods for Series Elastic Actuators

The series of codes are used to actuate and realize the real-time torque control of a Series Elastic Actuator (SEA). A SEA consists of an Electromagnetic Motor (EM), a reduction gear and an elastic element. Our actuator is comprised of a frameless and brushless motor (Kollmorgen TBM-7631) and a harmonic gearbox (Harmonic Drive CSG-25 with a conversion ratio of 1:100) in addition to a custom designed torsional spring. Both the motor side and the spring side are mounted with 39-Bit rotary encoders (Broadcom AS-38-H39E).

The set of codes provided here includes five different methods for controlling the torque output of the system; namely Proportional Integral Derivative Control (PID), cascaded PID control, Cascaded PID control with a disturbance observer (DoB), differential flatness (DF) with a DoB, feedforward (FF) PID control with a DoB and Sliding Mode Control (SMC).

Series Elastic Actuator Real time torque control

Ahmet Talha Kansizoglu, Ozyegin University

Emre Sariyildiz, University of Wollongong

Sinan Coruk, Ozyegin University

Barkan Ugurlu, Ozyegin University

barkan ugurlu [email protected]

MIT license

Benchmarking Torque Control Strategies for a Torsion based Series Elastic Actuator

IEEE Robotics and Automation Magazine (yet to be published)