Effect of Inherent Damping of the Series Elastic Element on Rendering Performance and Passivity of Interaction Control.
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| Title: | Effect of Inherent Damping of the Series Elastic Element on Rendering Performance and Passivity of Interaction Control. |
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| Authors: | Kenanoglu, Celal Umut1 umut.kenanoglu@sabanciuniv.edu, Patoglu, Volkan2 volkan.patoglu@sabanciuniv.edu |
| Source: | Journal of Dynamic Systems, Measurement, & Control. Sep2025, Vol. 147 Issue 5, p1-12. 12p. |
| Subjects: | Damping (Mechanics), Passivity (Engineering), Feedback control systems, Impedance control, Viscoelasticity, Closed loop systems, Computer performance |
| Abstract: | We study a realistic model of series elastic actuation (SEA) under velocity-sourced impedance control (VSIC), where the inherent damping of the series elastic element is considered during the analysis, even when only the elasticity of the series damped elastic element is used to estimate the interaction forces. We establish a fundamental rendering limitation when the viscous damping of the physical filter is considered in the plant model and prove that passive rendering of stiffness levels that are higher than the stiffness of the physical filter, as well as passive rendering of Voigt models whose damping levels exceed the physical damping of the plant, are possible. We introduce passive physical equivalents of the closed-loop SEA systems with inherent series damping while rendering Kelvin-Voigt, spring, and null impedance models to provide an intuitive understanding of the passivity bounds and to enable rigorous comparisons of rendering performance among various closed-loop systems with different plant models (including or omitting the series damping) and/or controllers (utilizing different interaction force estimates). We present a comprehensive set of experiments to verify our results and demonstrate the effect of including/omitting the damping of the physical filter in the model of SEA. [ABSTRACT FROM AUTHOR] |
| Copyright of Journal of Dynamic Systems, Measurement, & Control is the property of American Society of Mechanical Engineers and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.) | |
| Database: | Engineering Source |
| FullText | Text: Availability: 0 |
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| Header | DbId: egs DbLabel: Engineering Source An: 187304920 AccessLevel: 6 PubType: Academic Journal PubTypeId: academicJournal PreciseRelevancyScore: 0 |
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| Items | – Name: Title Label: Title Group: Ti Data: Effect of Inherent Damping of the Series Elastic Element on Rendering Performance and Passivity of Interaction Control. – Name: Author Label: Authors Group: Au Data: <searchLink fieldCode="AR" term="%22Kenanoglu%2C+Celal+Umut%22">Kenanoglu, Celal Umut</searchLink><relatesTo>1</relatesTo><i> umut.kenanoglu@sabanciuniv.edu</i><br /><searchLink fieldCode="AR" term="%22Patoglu%2C+Volkan%22">Patoglu, Volkan</searchLink><relatesTo>2</relatesTo><i> volkan.patoglu@sabanciuniv.edu</i> – Name: TitleSource Label: Source Group: Src Data: <searchLink fieldCode="JN" term="%22Journal+of+Dynamic+Systems%2C+Measurement%2C+%26+Control%22">Journal of Dynamic Systems, Measurement, & Control</searchLink>. Sep2025, Vol. 147 Issue 5, p1-12. 12p. – Name: Subject Label: Subjects Group: Su Data: <searchLink fieldCode="DE" term="%22Damping+%28Mechanics%29%22">Damping (Mechanics)</searchLink><br /><searchLink fieldCode="DE" term="%22Passivity+%28Engineering%29%22">Passivity (Engineering)</searchLink><br /><searchLink fieldCode="DE" term="%22Feedback+control+systems%22">Feedback control systems</searchLink><br /><searchLink fieldCode="DE" term="%22Impedance+control%22">Impedance control</searchLink><br /><searchLink fieldCode="DE" term="%22Viscoelasticity%22">Viscoelasticity</searchLink><br /><searchLink fieldCode="DE" term="%22Closed+loop+systems%22">Closed loop systems</searchLink><br /><searchLink fieldCode="DE" term="%22Computer+performance%22">Computer performance</searchLink> – Name: Abstract Label: Abstract Group: Ab Data: We study a realistic model of series elastic actuation (SEA) under velocity-sourced impedance control (VSIC), where the inherent damping of the series elastic element is considered during the analysis, even when only the elasticity of the series damped elastic element is used to estimate the interaction forces. We establish a fundamental rendering limitation when the viscous damping of the physical filter is considered in the plant model and prove that passive rendering of stiffness levels that are higher than the stiffness of the physical filter, as well as passive rendering of Voigt models whose damping levels exceed the physical damping of the plant, are possible. We introduce passive physical equivalents of the closed-loop SEA systems with inherent series damping while rendering Kelvin-Voigt, spring, and null impedance models to provide an intuitive understanding of the passivity bounds and to enable rigorous comparisons of rendering performance among various closed-loop systems with different plant models (including or omitting the series damping) and/or controllers (utilizing different interaction force estimates). We present a comprehensive set of experiments to verify our results and demonstrate the effect of including/omitting the damping of the physical filter in the model of SEA. [ABSTRACT FROM AUTHOR] – Name: AbstractSuppliedCopyright Label: Group: Ab Data: <i>Copyright of Journal of Dynamic Systems, Measurement, & Control is the property of American Society of Mechanical Engineers and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.) |
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| RecordInfo | BibRecord: BibEntity: Identifiers: – Type: doi Value: 10.1115/1.4068463 Languages: – Code: eng Text: English PhysicalDescription: Pagination: PageCount: 12 StartPage: 1 Subjects: – SubjectFull: Damping (Mechanics) Type: general – SubjectFull: Passivity (Engineering) Type: general – SubjectFull: Feedback control systems Type: general – SubjectFull: Impedance control Type: general – SubjectFull: Viscoelasticity Type: general – SubjectFull: Closed loop systems Type: general – SubjectFull: Computer performance Type: general Titles: – TitleFull: Effect of Inherent Damping of the Series Elastic Element on Rendering Performance and Passivity of Interaction Control. Type: main BibRelationships: HasContributorRelationships: – PersonEntity: Name: NameFull: Kenanoglu, Celal Umut – PersonEntity: Name: NameFull: Patoglu, Volkan IsPartOfRelationships: – BibEntity: Dates: – D: 01 M: 09 Text: Sep2025 Type: published Y: 2025 Identifiers: – Type: issn-print Value: 00220434 Numbering: – Type: volume Value: 147 – Type: issue Value: 5 Titles: – TitleFull: Journal of Dynamic Systems, Measurement, & Control Type: main |
| ResultId | 1 |
