Design, Modelling and Control of Novel Series-Elastic Actuators for Industrial Robots

José de Gea Fernández, Bingbin Yu, Vinzenz Bargsten, Michael Zipper, Holger Sprengel

In: Actuators 9 1 Pages 1-20 MDPI 1/2020.


This paper describes data-driven modelling methods and its use for the control of a novel set of series-elastic actuators (SEAs). A set of elastic actuators was developed in order to fulfill the end-user needs for tailored industrial collaborative robot manipulators of different morphology and payload. Three different types of elastic actuation were investigated: namely, disc springs, coil springs and torsion bars. The developed algorithms were validated both on single actuators and on a 6-DOF robotic arm composed of such actuators


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German Research Center for Artificial Intelligence
Deutsches Forschungszentrum für Künstliche Intelligenz