The dynamic compliance composition of force-based impedance control and its experimental research

被引：0
|
作者：
Yu Bin [1 ,2 ,3 ]
Wang Dongkun [1 ]
Li Wenfeng [1 ]
Liu Yaliang [1 ]
Ba Kaixian [1 ]
Kong Xiangdong [1 ,3 ]
机构：
[1] Yanshan Univ, Sch Mech Engn, Qinhuangdao 066004, Hebei, Peoples R China
[2] Zhejiang Univ, State Key Lab Fluid Power & Mechatron Syst, Hangzhou 310000, Zhejiang, Peoples R China
[3] Hebei Prov Key Lab Heavy Machinery Fluid Power Tr, Qinhuangdao 066004, Hebei, Peoples R China
来源：
2017 2ND INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS AND MECHATRONICS (ICARM) | 2017年
关键词：
Force-based Impedance Control; The hydraulic drive legged robot; The Dynamic Compliance Composition; ROBOT;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The bionic legged robot, driven by hydraulic, has a better ability to operate in different working environment. In order to prevent the robotic foot end from impact and collision during its contact with the ground, it is necessary to design the robotic joint with certain dynamic compliance. Generally speaking, the force based impedance control is a commonly adopted method for active dynamic compliance control in the legged robot's joints. The hydraulic drive unit(HDU), which actuates the joints' motion, is the research object in this paper. Thus, the dynamic compliance composition of force based impedance control is researched and analyzed. Then, aimed at the HDU, the theory of dynamic compliance serial-parallel connection is proposed through the mechanism modeling, equation derivation and theoretical analysis. Finally, the control effect of dynamic compliance control is verified experimentally on the HDU performance test platform. The experiment shows that the dynamic compliance control is capable of enhancing the system dynamic compliance for the HDU position control system and the theory of dynamic compliance serial-parallel connection is also proved. The experimental result contributes to improving the control performance of HDU force control inner loop.
引用
收藏
页码：19 / 24
页数：6
相关论文
共 50 条
  • [21] Adaptive Force-based Control for Legged Robots
    Sombolestan, Mohsen
    Chen, Yiyu
    Nguyen, Quan
    2021 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), 2021, : 7440 - 7447
  • [22] FORCE-BASED ABS CONTROL USING LATERAL FORCE MEASUREMENT
    Gerard, Mathieu
    Corno, Matteo
    Verhaegen, Michel
    Holweg, Edward
    PROCEEDINGS OF THE ASME DYNAMIC SYSTEMS AND CONTROL CONFERENCE AND BATH/ASME SYMPOSIUM ON FLUID POWER AND MOTION CONTROL (DSCC 2011), VOL 2, 2012, : 831 - 837
  • [23] Force-based Control of Bipedal Balancing on Dynamic Terrain with the "Tallahassee Cassie" Robotic Platform
    White, Jason
    Swart, Dylan
    Hubicki, Christian
    2020 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2020, : 6618 - 6624
  • [24] Force-Based Compliance Controller Utilizing Visual Information for Motion Navigation in Haptic Bilateral Control System
    Jamaluddin, Muhammad Herman
    Shimono, Tomoyuki
    Motoi, Naoki
    IEEJ JOURNAL OF INDUSTRY APPLICATIONS, 2014, 3 (03) : 227 - 235
  • [25] Research on Robot Contact Force Control Based on Adaptive Impedance Control
    Ye, Haoliang
    Jiang, Shuo
    Wang, Junzheng
    2021 5TH INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION SCIENCES (ICRAS 2021), 2021, : 84 - 88
  • [26] Second order matrix sensitivity analysis of force-based impedance control for leg hydraulic drive system
    Ba, Kaixian
    Yu, Bin
    Zhu, Qixin
    Gao, Zhengjie
    Ma, Guoliang
    Jin, Zhengguo
    Kong, Xiangdong
    ROBOTICS AND AUTONOMOUS SYSTEMS, 2019, 121
  • [27] Neuromechanical force-based control of a powered prosthetic foot
    Naseri, Amirreza
    Grimmer, Martin
    Seyfarth, Andre
    Sharbafi, Maziar Ahmad
    WEARABLE TECHNOLOGIES, 2020, 1
  • [28] Force Variations with Defects and a Force-based Strategy to Control Defects in SPIF
    Al-Ghamdi, K. A.
    Hussain, G.
    Butt, Shahid I.
    MATERIALS AND MANUFACTURING PROCESSES, 2014, 29 (10) : 1197 - 1204
  • [29] Force-based Formation Control of Omnidirectional Ground Vehicles
    Gabellieri, Chiara
    Palleschi, Alessandro
    Pallottino, Lucia
    2021 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), 2021, : 6419 - 6426
  • [30] Force-based control of a compact spinal milling robot
    Wang, Tianmiao
    Luan, Sheng
    Hu, Lei
    Liu, Zhongjun
    Li, Weishi
    Jiang, Liang
    INTERNATIONAL JOURNAL OF MEDICAL ROBOTICS AND COMPUTER ASSISTED SURGERY, 2010, 6 (02): : 178 - 185
12345