Position/Force-based Impedance Control and Their Experimental Research on Hydraulic Drive Unit

doi:10.3901/JME.2017.12.172

Abstract

Abstract:

Hydraulic drive high performance foot type bionic robot has a good ability to adapt to the unknown and unstructured environment. In order to avoid the impact and collision in the process of the foot contact with ground, the joint of the robot should possess certain dynamic compliance. The hydraulic drive unit (HDU) which drives the movement of foot type robot’s joint is researched. Firstly, the mathematical model of the position / force control of the hydraulic system is established. Secondly, the basic control principle of impedance control is derived. Then the hydraulic system is taken as the inner loop control and the impedance control mechanism based on position / force on HDU is analyzed. Meanwhile, the two kinds of series-parallel principle of the controlling inner and outer loop dynamic compliance on impedance control method is researched. Finally, the performance test platform of the HDU is established. The two kinds of series-parallel principle of the dynamic compliance on impedance control which is proposed in the paper is verified experimentally by the platform. The experimental results show as follows: the dynamic compliance of the position-based impedance inner loop is a parallel connection, the dynamic compliance of the impedance control loop and the position control inner loop is a series connection, the dynamic compliance of the force-based impedance inner loop is a series connection, the dynamic compliance of the impedance control loop and the force control inner loop is a series connection. The responding speed of the force-based impedance control is faster than that of the position-based impedance control, while the impedance simulation accuracy of the latter precedes the former. The results of the above research can provide a theoretical and experimental foundation of the control method selection and the performance optimization for the foot type bionic robot joints.

Key words: quadruped robot, the dynamic compliance, the force-based impedance control, the position-based impedance control, hydraulic drive

BA Kaixian, KONG Xiangdong, ZHU Qixin, LI Chunhe, ZHAO Hualong, YU Bin. Position/Force-based Impedance Control and Their Experimental Research on Hydraulic Drive Unit[J]. Journal of Mechanical Engineering, 2017, 53(12): 172-185.

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Position/Force-based Impedance Control and Their Experimental Research on Hydraulic Drive Unit

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