Novel Force Estimation Method for Magnetic Lead Screw-Based RotLin Actuator

This article proposes a method to precisely estimate the load force of magnetic lead screw (MLS)-based series elastic actuators (SEAs) in real time. The transmissions MLS-based SEAs generally comprise permanent magnets (PMs). Owing pole distortion and characteristic nonlinear PMs, conventional estimation methods are less accurate for than with mechanical springs. In proposed method, MLSs, an MLS is modeled sinusoidal model, hysteresis phenomenon predicted based on Bouc–Wen-type equations. Moreover, called relative displacement normalization detect compensate related error. addition, applied rotary-linear (RotLin) actuator, which novel linear SEA. accuracy experimentally evaluated by comparison existing methods. results demonstrate that root-mean-square error polynomial model up 81.2%. Finally, controller static control system designed prove its feasibility.