Series elastic actuation for force controlled micro-manipulation

Tokatlı, Ozan and Patoğlu, Volkan (2011) Series elastic actuation for force controlled micro-manipulation. In: IEEE International Conference on Mechatronics (ICM 2011), Istanbul, Turkey

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We propose using series elastic actuation (SEA) in micro mechanical devices to achieve precise control of the interaction forces. Using mSEA for force control removes the need for high-precision force sensors/actuators and allows for accurate force control through simple position control of the deflection of a compliant coupling element. In this work, we employ a design optimization framework to design this element. The proposed design framework ensures robustness of the design while simultaneously optimizing multiple objective functions. The robust design optimization method relies on the Sensitivity Region concept which minimizes the change of the objective function with respect to the small changes in the design variables. Once the optimal design is obtained, a non-overshooting controller is implemented for the mSEA to achieve accurate force tracking without ever exceeding the reference force input.
Item Type: Papers in Conference Proceedings
Uncontrolled Keywords: Mechatronics Design , Micro Manipulation , Non-overshooting Control , Robust Optimal Design , Series Elastic Actuation
Divisions: Faculty of Engineering and Natural Sciences > Academic programs > Mechatronics
Faculty of Engineering and Natural Sciences
Depositing User: Volkan Patoğlu
Date Deposited: 07 Jan 2012 23:50
Last Modified: 26 Apr 2022 09:04

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