Simulink Exploration of Design and Control Techniques for BLDC-Driven Compliant Actuators in Legged Robotics
Published in CISCON 2024 – IEEE International Conference on Intelligent Systems and Control, 2024
This research investigates the modeling and control of Series Elastic Actuators (SEAs) driven by Brushless DC (BLDC) motors using Simulink. These actuators, known for their adaptability and safety in human-robot interaction, were analyzed through a dynamic simulation framework.
The study develops a comprehensive electromechanical model, incorporating six-step trapezoidal commutation with Hall sensors for rotor position detection. Control strategies — including PI-based speed and position control — were implemented and evaluated to assess their impact on performance metrics such as response time, torque behavior, and energy efficiency.
Additionally, the simulation explores how different spring stiffness levels influence position accuracy and load dynamics. Results show that while high stiffness improves tracking precision, increased compliance leads to larger positional errors — an important consideration for robotic applications like prosthetics, exoskeletons, and legged mobility.
This work provides a reproducible method for analyzing compliant actuation and guides the design of energy-efficient, BLDC-powered systems in real-world robotic platforms.
Recommended citation: Dhananjay Shendre, Vinodini Bhole, Sunil Ghunage. (2024). "Simulink Exploration of Design and Control Techniques for BLDC-Driven Compliant Actuators in Legged Robotics." In CISCON 2024 – IEEE International Conference on Intelligent Systems and Control.
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