Advantages of Series Elastic Actuator Controller Design: A Review

Abstract

The goal of this study is to offer an operational model for a group of elasticity actuation which could satisfy the morphological and payload criteria of industrialised cooperative robotic tyrants Flexible actuation defy the maxim that "stiffer is better" in machine layout, whereas being widely advertised because its benefits like excellent pressure loyalty, exceptionally low resistance, decreased abrasion, and a broad power regulation bandwidth. For integrated monitoring of robotics in broad spaces, Sequential Stretch Actuators (SEAs) are especially appropriate. We describe the output-feedback torque management approach for SEAs, that employs a form of filtering to predict mobility indicators and systemic aggregated disruptions, to address parameter uncertainties and external disturbances. By doing this, the controller's resistance to system uncertainty is strengthened. Projects that employ series elasticity actuators, especially position control, can frequently have performance constraints as a result of poor controller design. However, because of its low impedance, great force fidelity, and built-in shock resistance, SEAs are perfect for a wide range of applications. Legged robots, exoskeletons, robotic arms, haptic interfaces, and adjustable suspension are some of these uses. We also demonstrate that the control process and controller types for SEAs differ depending on the application of the SEA. In this study, we aim to compare and analyse six existing controller theories or control type designs for SEAs that have been previously published. We will cover topics such as the design of mechanical systems, choice of actuators, motors, and drive systems, and power transfer from actuators to moving parts.