Backlash-Compensated Active Disturbance Rejection Control of Nonlinear Multi-Input Series Elastic Actuators
Brayden DeBoon,Scott Nokleby,Carlos Rossa,Brayden DeBoon,Scott Nokleby,Carlos Rossa
Series elastic actuators with passive compliance have been gaining increasing popularity in force-controlled robotic manipulators. One of the reasons is the actuator's ability to infer the applied torque by measuring the deflection of the elastic element as opposed to directly with dedicated torque sensors. Proper deflection control is pinnacle to achieve a desired output torque and, therefore, sm...
