Design, implementation and control of physical series elastic actuated robotic manipulator

Abstract

This paper discusses Design, Implementation and Control of Series Elastic Actuator (SEA). This model was mainly dependent on usage of mechanical off-shelf components which are weigh cheaper to purchasable models developed by companies. For an appropriate performance-to-cost component selection, cost-constrained design requires careful evaluation of important performance criteria. In addition, we used These models to create force and position tracking controllers that combine PID and disturbance observer control architectures model and practical based. SEA can be used as a compliant actuator, We have been keen to utilize a collaborative robot and tackle the safety issues that arise when robots and humans interact as well as the cost issue. As a result, The goal of this study is to show how to design and install hardware as well as implementing some software programs to produce a fully functioned University of Texas Series Elastic Actuator (UT-SEA).