A serial-type dual actuator unit with planetary gear train: Basic design and applications

Byeong Sang Kim, Jae Bok Song, Jung Jun Park

    Research output: Contribution to journalArticlepeer-review

    70 Citations (Scopus)

    Abstract

    Control of a robot manipulator in contact with the environment is usually conducted by a direct feedback control system using a forcetorque sensor or an indirect impedance control scheme. Although these methods have been successfully applied to many applications, simultaneous control of force and position cannot be achieved. To cope with such problems, this paper proposes a novel design of a dual actuator unit (DAU) composed of two actuators and a planetary gear train to provide the capability of simultaneous control of position and stiffness. Since one actuator controls position and the other actuator modulates stiffness, the DAU can control the position and stiffness simultaneously at the same joint. Both the torque exerted on the joint and the stiffness of the environment can be estimated without an expensive force sensor. Various experiments demonstrate that the DAU can provide good performance for position tracking, force estimation, and environment estimation.

    Original languageEnglish
    Article number4840358
    Pages (from-to)108-116
    Number of pages9
    JournalIEEE/ASME Transactions on Mechatronics
    Volume15
    Issue number1
    DOIs
    Publication statusPublished - 2010 Feb

    Bibliographical note

    Funding Information:
    Manuscript received July 26, 2008; revised October 23, 2008. First published April 24, 2009; current version published November 18, 2009. Recommended by Technical Editor O. Kaynak. This work was supported by a Korea Science and Engineering Foundation (KOSEF) Grant funded by the Korean Government (MOST) (R11-2007-028-01002-0).

    Keywords

    • Environment estimation
    • Force estimation
    • Planetary gear train
    • Redundant actuation
    • Variable impedance approach (VIA)

    ASJC Scopus subject areas

    • Control and Systems Engineering
    • Computer Science Applications
    • Electrical and Electronic Engineering

    Fingerprint

    Dive into the research topics of 'A serial-type dual actuator unit with planetary gear train: Basic design and applications'. Together they form a unique fingerprint.

    Cite this