Residual-Based External Torque Estimation in Series Elastic Actuators Over a Wide Stiffness Range: Frequency Domain Approach
Residual-Based External Torque Estimation in Series Elastic Actuators Over a Wide Stiffness Range: Frequency Domain Approach
复制标题
宽刚度范围内串联弹性执行器中基于残余的外部扭矩估计：频域方法
DOI：
10.1109/lra.2018.2800128
复制
发表时间：
2018
影响因子：
5.2
通讯作者：
Sehoon Oh
中科院分区：
文献类型：
--
作者：
Jinoh Lee;Chan Lee;N. Tsagarakis;Sehoon Oh
这封信提出了一种增强的外部扭矩估计算法的串联弹性致动器（SEA）扩展的残差为基础的技术的可用性。虽然残差方法在不同的应用中展示了在线扭矩估计能力，因此变得流行，但在很宽的刚度范围内实现精确的估计性能实际上是具有挑战性的。性能下降主要是由不准确的传输扭矩信息引起的，这是由基于弹簧偏转的扭矩感测中的意外误差引起的。为了克服这个问题，这封信分析了传统的方法在频域的局限性，并提出了增强的剩余用于在一个广泛的刚度范围的SEA。仿真和实验结果表明，该方法的性能与传统方法相比得到了验证。
This letter presents an enhanced external torque estimation algorithm for series elastic actuators (SEAs) expanding the usability of the residual-based technique. Although the residual method demonstrates online torque estimation capability in diverse applications and thus becomes popular, it is practically challenging to achieve accurate estimation performance in a wide stiffness range of SEAs. The performance degradation is mainly induced by inaccurate transmission torque information, which is stemmed from unexpected errors in the spring deflection based torque sensing. To overcome the issue, this letter analyses the limitation of the conventional approach in frequency domain and proposes the enhanced residual to be used over a wide stiffness range of SEAs. The performance of proposed method is comparatively verified with conventional method in the both of simulations and experiments.