The position-based impedance control combined with compliance-eliminated and feedforward compensation for HDU of legged robot |
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| Authors: | Kaixian Ba Bin Yu Qixin Zhu Zhengjie Gao Guoliang Ma Zhengguo Jin Xiangdong Kong |
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| Affiliation: | 1. School of Mechanical Engineering, Yanshan University, Qinhuangdao 066004, China;2. Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control, Qinhuangdao, China |
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| Abstract: | In this paper, the hydraulic drive unit (HDU) driving the joint motion of the legged robot is the research object. Through the experiment on HDU, it is observed that the control accuracy of the traditional position-based impedance control is not high enough. The further analysis researches the serial-parallel composition on dynamic compliances from both position control inner and impedance outer loop. Then, the two reasons affecting control accuracy are found out. Therefore, aimed at the first reason, a compliance-eliminated controller with multiple serial branches is designed. Aimed at the second reason, a feedforward compensation controller is designed. Finally, the dynamic compliance composition is rearranged. The results of experiments conducted indicate that the proposed method significantly improves the control accuracy compared to that of traditional position-based impedance control. |
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| Keywords: | Corresponding author at: School of Mechanical Engineering Yanshan University Qinhuangdao 066004 China. |
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