Modern robots are increasingly being designed to collaborate with human, and the safety of human-robot interaction has become more significant than ever. Series elastic actuator (SEA) is a potential actuator system in force control for various robotic applications with inherent safe property. However, achieving the good performances of SEA torque control especially with unknown load-side dynamics is still challenging. In this article, a high performance decoupled torque controller is proposed to control the SEA as an ideal torque source that is suitable for various application scenarios. A more general decoupled dynamics of the SEA system is first established to fit the various scenarios by considering the large parametric uncertainties, nonlinearities, and unmodeled uncertainties. The adaptive robust control algorithm with an effective compensation mechanism is then developed to attenuate the uncertainties. Theoretically, the proposed approach guarantees the stability and high performance of the SEA system. Comparative experiments are carried out on a SEA testbed, and the experimental results demonstrate that the proposed approach has significant performance improvements over previous approaches.

中文翻译：

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具有时变负载侧动态自适应鲁棒补偿的串联弹性执行器的解耦扭矩控制

现代机器人越来越多地被设计为与人类协作，人机交互的安全性变得比以往任何时候都更加重要。串联弹性执行器 (SEA) 是一种潜在的执行器系统，可用于具有固有安全特性的各种机器人应用的力控制。然而，实现 SEA 扭矩控制的良好性能，尤其是在负载侧动态未知的情况下仍然具有挑战性。在本文中，提出了一种高性能解耦转矩控制器来控制 SEA 作为适用于各种应用场景的理想转矩源。通过考虑大的参数不确定性、非线性和未建模的不确定性，首先建立了 SEA 系统的更一般的解耦动力学以适应各种场景。然后开发具有有效补偿机制的自适应鲁棒控制算法以减弱不确定性。从理论上讲，所提出的方法保证了 SEA 系统的稳定性和高性能。在 SEA 测试台上进行了对比实验，实验结果表明，所提出的方法比以前的方法具有显着的性能改进。