Passivity-Based Robust Compliance Control of Electro-Hydraulic Robot Manipulators with Joint Angle Limit
international conference on robotics and automation(2020)
摘要
This paper presents a robust compliance control scheme for an electro-hydraulic robot manipulator with an electro-hydraulic torque actuators (EHTAs) and joint torque sensors. The EHTA, a torque-sourced hydraulic actuator, consists of electro-hydraulic backdrivable servovalve and a rotary hydraulic vane actuator and it allows us to design controllers similar to those for robot manipulators with electric motors. However, unlike in electric motors, the EHTA has a limited rotational angle and this may lead to instability when using a non-passive robust controller that generates the energy. As a solution to this problem, this paper proposes a robust two-loop control structure that has a passivity-based disturbance observer as an inner-loop controller and a nominal state feedback compliance controller as an outer-loop controller. The proposed control method was evaluated through single-degree-of-freedom experiments.
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关键词
Electro-hydraulic torque actuator, passivity-based disturbance observer, energy tank, nominal state feedback compliance control
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