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Position and torque tracking: series elastic actuation versus model-based-controlled hydraulic actuation.

Alexander Otten¹, Wieke van Vuuren, Arno Stienen

¹Laboratory Biomechanical Engineering, University of Twente, PO Box 217, 7500 AE Enschede, The Netherlands. a.otten@utwente.nl

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|January 26, 2012

Summary

This study compares two control methods for nonlinear hydraulic actuators used in robotics for stroke survivor diagnostics. A model-based controller offers better performance for both position and torque control compared to a series elastic actuator with proportional integral control.

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Area of Science:

Robotics
Control Systems
Biomedical Engineering

Background:

Robotic systems for diagnostics, such as for stroke survivors, necessitate actuators with both stiffness for identification and compliance for free subject movement.
Hydraulic actuators can function as either position (stiff) or torque (compliant) actuators, but exhibit nonlinear behavior.

Purpose of the Study:

To examine and compare two distinct control methods for nonlinear hydraulic actuators.
To evaluate the effectiveness of a series elastic actuator with proportional integral control versus a model-based linearizing controller.

Main Methods:

Implementation of a series elastic hydraulic actuator with torque measurement for proportional integral control.
Development and application of a model-based controller utilizing the inverse of the actuator's nonlinear model.
Comparison of both control strategies through simulation results.

Main Results:

The series elastic actuator controller is quicker to implement but limited by the system's nonlinearity and the elastic element's low torsional stiffness, especially for position control.
The model-based controller effectively linearizes the nonlinear system, demonstrating good performance in both torque and position control applications.
The model-based approach requires thorough model development and validation.

Conclusions:

Model-based control offers superior performance for nonlinear hydraulic actuators in robotic applications requiring both stiffness and compliance.
While simpler to implement, series elastic actuators have limitations due to inherent system nonlinearities and component stiffness.
Accurate system modeling is crucial for the successful implementation of advanced model-based control strategies.