ICRA 2017poster4 citations
Wire-tension control using Compact Planetary geared Elastic Actuator
Jihoo Kwak, Chan Lee, Junyoung Kim, Shinyoon Kim, Sehoon Oh
Abstract
The tension control of wires can benefit from Series Elastic Actuator (SEA), which is a potential emerging actuator system. In this paper, it is verified that the tension of wires can be successfully controlled by a novel SEA, called Compact Planetary-geared Elastic Actuator (cPEA), which incorporates a planetary gear and a spring to achieve precise force sensing and compactness at the same time. The design of model-based tension control and impedance compensator using cPEA is introduced, and the experiments that show the effectiveness of the proposed control are provided.
BibTeX
@inproceedings{icra2017_wiretensioncontr,
title = {Wire-tension control using Compact Planetary geared Elastic Actuator},
author = {Jihoo Kwak and Chan Lee and Junyoung Kim and Shinyoon Kim and Sehoon Oh},
booktitle = {ICRA 2017},
year = {2017}
}