Virginia Tech
Design and Implementation of a Dual Axis Motor Controller for Parallel and Serial Series Elastic Actuators
Abstract
dc:description.abstractThis paper discusses the design and implementation of a high performance, custom control solution for series elastic actuators (SEA) in a parallel or serial configuration. In many modern robotics applications, controlling actuator output force accurately and with high bandwidth is extremely important. The series elastic actuator has become popular in applications which require precise force control, however currently not many commercial options exist. Commonly, these actuators are custom designed and use electric motors, however most off-the-shelf electric motor drives are not designed for this specific application. In this paper, the hardware and software architecture of a control device designed specifically for force controlled series elastic actuators is described, along with test results on a novel SEA design.
Degree
thesis:*- Name thesis:degree_name
- Master of Science
- Level thesis:degree_level
- masters
- Discipline thesis:degree_discipline
- Computer Engineering
- Department dc:contributor.department
- Electrical and Computer Engineering
- Grantor dc:publisher
- Virginia Tech
- Year dc:date.issued
- 2014
Author and committee
dc:creator, dc:contributor.*- Author dc:creator
-
- Ressler, Stephen Andrew
- Chairs dc:contributor.committeechair
-
- Martin, Thomas L.
- Hong, Dennis W.
- Committee member dc:contributor.committeemember
-
- Woolsey, Craig A.
Subjects
dc:subject × 3Rights
dc:rights- Statement dc:rights
-
- In Copyright
- Licence dc:rights.uri
Identifiers
dc:identifier.*- Dc Identifier Other
- vt_gsexam:2721
- OAI identifier oai:identifier
- oai:vtechworks.lib.vt.edu:10919/47359