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

Byeong Sang Kim; Jae Bok Song; Jung Jun Park

doi:10.1109/TMECH.2009.2019639

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 journal › Article › peer-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 language	English
Article number	4840358
Pages (from-to)	108-116
Number of pages	9
Journal	IEEE/ASME Transactions on Mechatronics
Volume	15
Issue number	1
DOIs	https://doi.org/10.1109/TMECH.2009.2019639
Publication status	Published - 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

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10.1109/TMECH.2009.2019639

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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.",

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

Abstract

Bibliographical note

Keywords

ASJC Scopus subject areas

Access to Document

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