JRM Vol.33 No.4 pp. 833-842
doi: 10.20965/jrm.2021.p0833


Impedance Control Considering Velocity Saturation of a Series Elasticity System with a Motor

Ren Fukui*, Yasuhito Kusakabe**, Ryojun Ikeura**, and Soichiro Hayakawa**

*Sinfonia Technology Co., Ltd.
Shiba NBF Tower, 1-30 Shibatdaimon 1-chome, Minato-ku, Tokyo 105-8564, Japan

**Faculty of Engineering, Mie University
1577 Kurimamachiya, Tsu, Mie 514-8507, Japan

February 10, 2021
June 21, 2021
August 20, 2021
series elasticity system, impedance control, human-robot cooperation, velocity saturation, robot arm

Human-machine cooperative robots are required to drive their arms with low impedance and high torque. As a compact mechanism that generates a large torque and has low impedance characteristics, the series elastic drive system, in which an elastic element is inserted between the motor and driving unit, has been proposed. In this paper, we propose a method of applying impedance control to a series elasticity system with a torque-compensating motor that uses a torsion bar as an elastic body that enables its use under high loads. The stability of the system was verified via simulation and experiment by considering the allowable speed and maximum torque of the motor. The experimental results from the conventional system and the proposed system were compared. The proposed system was confirmed to be superior to the conventional system in terms of both stability and tracking performance. Consequently, the effectiveness of our proposed system was confirmed.

Series elasticity system with a torsion bar and a motor

Series elasticity system with a torsion bar and a motor

Cite this article as:
R. Fukui, Y. Kusakabe, R. Ikeura, and S. Hayakawa, “Impedance Control Considering Velocity Saturation of a Series Elasticity System with a Motor,” J. Robot. Mechatron., Vol.33 No.4, pp. 833-842, 2021.
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