Design,Modelling and Control of Novel Series-Elastic Actuators for Industrial Robots

Abstract

This paper describes data-driven modelling methods and their use for the control of a novelset of series-elastic actuators (SEAs). A set of elastic actuators was developed in order to fulfill theend-user needs for tailored industrial collaborative robot manipulators of different morphologiesand payloads. Three different types of elastic actuation were investigated, namely, disc springs,coil springs and torsion bars. The developed algorithms were validated both on single actuators andon a 6-DOF robotic arm composed of such actuators.

Keywords

• series-elastic actuators
• human–robot collaboration
• modularity
• safety