Frequency Domain Analysis of Nonlinear Series Elastic Actuator via Describing Function
Fuente:
arXiv
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| Auteurs principaux: | , , , |
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| Format: | Preprint |
| Publié: |
2023
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| _version_ | 1866910772617019392 |
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| author | Hirao, Motohiro Kurkcu, Burak Ghanbarpour, Alireza Tomizuka, Masayoshi |
| author_facet | Hirao, Motohiro Kurkcu, Burak Ghanbarpour, Alireza Tomizuka, Masayoshi |
| contents | Nonlinear stiffness SEAs (NSEAs) inspired by biological muscles offer promise in achieving adaptable stiffness for assistive robots. While assistive robots are often designed and compared based on torque capability and control bandwidth, NSEAs have not been systematically designed in the frequency domain due to their nonlinearity. The describing function, an analytical concept for nonlinear systems, offers a means to understand their behavior in the frequency domain. This paper introduces a frequency domain analysis of nonlinear series elastic actuators using the describing function method. This framework aims to equip researchers and engineers with tools for improved design and control in assistive robotics. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2310_03888 |
| institution | arXiv |
| publishDate | 2023 |
| record_format | arxiv |
| spellingShingle | Frequency Domain Analysis of Nonlinear Series Elastic Actuator via Describing Function Hirao, Motohiro Kurkcu, Burak Ghanbarpour, Alireza Tomizuka, Masayoshi Robotics Nonlinear stiffness SEAs (NSEAs) inspired by biological muscles offer promise in achieving adaptable stiffness for assistive robots. While assistive robots are often designed and compared based on torque capability and control bandwidth, NSEAs have not been systematically designed in the frequency domain due to their nonlinearity. The describing function, an analytical concept for nonlinear systems, offers a means to understand their behavior in the frequency domain. This paper introduces a frequency domain analysis of nonlinear series elastic actuators using the describing function method. This framework aims to equip researchers and engineers with tools for improved design and control in assistive robotics. |
| title | Frequency Domain Analysis of Nonlinear Series Elastic Actuator via Describing Function |
| topic | Robotics |
| url | https://arxiv.org/abs/2310.03888 |