Forced Servoing of a Series Elastic Actuator Based on Link-Side Acceleration Measurement

Joint stiffness of an elastic-joint robot can be changed according to joint requirements. A series elastic actuator (SEA) reduce the contact between body and environment or human, which further ensure interactive operation in a human–machine-compatible environment. However, introduction SEA improves complexity dynamics model. In this paper, we propose control schema based on link-side acceleration measurement eliminate overshoot vibration transient process force control. An extended Kalman filter (EKF) algorithm that fuses photoelectric encoders accelerometers is first presented measurement. Following this, external torque estimation, reduction designed. The simulation model built, design position are carried out finally tested real platform. effectiveness proved. experimental results show dynamic response estimation about 2 ms faster than sensor, error estimated within ±0.16 N·m.