An adaptive compliance position control based on EKF for series elastic actuation

摘要: Considering the intrinsic safety of physical human-robot interaction, this paper proposes a compliance Cartesian position control robot manipulator with series elastic actuations(SEA). High spring introduces strong passive dynamics to improve safety. A kinetics model was built investigate effect applying driving forces. Without adopting inverse dynamics, an adaptive method positioning end-effector reach target point demonstrated based on torque control. The introduction probabilistic helps system performance in many aspects including response speed, error rejection and robustness. Both simulation experimental results shown that can be stopped or disturbed safely stably while it operating unconstructed environment.