SERA Actuator/Chris OSS

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Note: I should grab some stuff from http://ip.dellin.net/doku.php?id=impedance:oss

Details:

  • OSS, Non-SCOPE
  • Fall 2007
  • 4-ENGR Credits
  • Project/Disciplinary Adivisor: Gill Pratt.

Contents

Study of Impedance Control and Series Elastic Actuators

Plan of Study

I plan to investigate existing research regarding impedance control of robotic members, and a particular class of actuators, termed Series Elastic Actuators (SEAs). My search will be initially guided by Gill Pratt, and will consist primarily of reading research papers and studying actuators in current and past robots. I will maintain an electronic record of all resources that I have synthesized, and will also keep all notes, impressions, and connections in a hyperlinked electronic format throughout the semester.

Assessment Plan

My advisor and I will meet every two weeks throughout the semester to review and assess my progress. Each meeting will consist of both oral examination of researched topic areas and guidance in selecting new topic areas. These biweekly meetings may also include a review of my electronic notes and questions. Since I am also participating in a project in the robotics lab this year which is closely related to this field of study, my advisor may choose to assess the way I am able to apply my knowledge to the project. An assessment of my completed electronic notebook will be a significant written component of my final grade.

Index of Papers

  • N Hogan. American Control Conference. 1982-Jun.
    • Impedance Control: An Approach to Manipulation.
  • N Hogan. ASME Journal of Dynamic Systems, Measurement and Control. 1985-Mar.
    • Impedance Control: An Approach to Manipulation: I. Theory.
    • Impedance Control: An Approach to Manipulation. II. Implementation.
    • Impedance Control: An Approach to Manipulation. III. Application.
  • O Khatib. International Journal of Robotics Research. 1986.
    • Real-Time Obstacle Avoidance for Manipulators and Mobile Robots.

Force Control

A simple Simulink model of force control of a series-elastic actuator.
A simple Simulink model of force control of a series-elastic actuator.
The discrete control block for the Simulink force control simulation.
The discrete control block for the Simulink force control simulation.

Insert ingenious series-elastic force control theory here:

F_s = k \left( x_m - x_L \right)

F_m - F_s = m \frac{d^2 x_m}{dt^2}

F_m = m \frac{d^2 x_m}{dt^2} + F_s

F_m = \frac{m}{k} \frac{d^2 F_s}{dt^2} + m \frac{d^2 x_L}{dt^2} + F_s

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