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Design and Implementation of a Dual Axis Motor Controller for Parallel and Serial Series Elastic Actuators

This 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. / Master of Science

Identiferoai:union.ndltd.org:VTETD/oai:vtechworks.lib.vt.edu:10919/47359
Date14 April 2014
CreatorsRessler, Stephen Andrew
ContributorsElectrical and Computer Engineering, Martin, Thomas L., Hong, Dennis W., Woolsey, Craig A.
PublisherVirginia Tech
Source SetsVirginia Tech Theses and Dissertation
Detected LanguageEnglish
TypeThesis
FormatETD, application/pdf, application/pdf
RightsIn Copyright, http://rightsstatements.org/vocab/InC/1.0/

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