Joost van der Weijde

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Coil springs are nowadays widely used in robotic applications, in particular in Series Elastic Actuators. The measurement of spring force, either via load cells or via position sensors, conventionally requires additional sensor hardware to be part of or parallel to the kinematic chain. In order to simplify measurement of spring deflection, we exploit the(More)
— To provide more tuning freedom in the trade-off between overshoot and settling times of PID controlled stages, a PID controller with a fractional order integrator is studied. The fractional order integrator has two parameters dependent on the order λ. Namely, the corner frequency ω i (λ) and the gain k p (λ). Both parameters are designed such that robust(More)
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