On the role of load motion compensation in high-performance force control
- 1 October 2012
- conference paper
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 4066-4071
- https://doi.org/10.1109/iros.2012.6385953
Abstract
Robots are frequently modeled as rigid body systems, having torques as input to their dynamics. A high-performance low-level torque source allows us to control the robot/environment interaction and to straightforwardly take advantage of many model-based control techniques. In this paper, we define a general 1-DOF framework, using basic physical principles, to show that there exists an intrinsic velocity feedback in the generalized force dynamics, independently of the actuation technology. We illustrate this phenomena using three different systems: a generic spring-mass system, a hydraulic actuator, and an electric motor. This analogy helps to clarify important common aspects regarding torque/force control that can be useful when designing and controlling a robot. We demonstrate, using simulations and experimental data, that it is possible to compensate for the load motion influence and to increase the torque tracking capabilities.Keywords
This publication has 17 references indexed in Scilit:
- Torque-control based compliant actuation of a quadruped robotPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2012
- Design of HyQ – a hydraulically and electrically actuated quadruped robotProceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, 2011
- High stiffness torque control for a geared DC motor based on acceleration controllerPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Series elastic actuatorsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Virtual Model Control: An Intuitive Approach for Bipedal LocomotionThe International Journal of Robotics Research, 2001
- Effective Force Testing: A Method of Seismic Simulation for Structural TestingJournal of Structural Engineering, 1999
- Role of Control-Structure Interaction in Protective System DesignJournal of Engineering Mechanics, 1995
- Basic consideration of vibration suppression and disturbance rejection control of multi-inertia system using SFLAC (state feedback and load acceleration control)IEEE Transactions on Industry Applications, 1994
- Impedance Control: An Approach to Manipulation: Part I—TheoryJournal of Dynamic Systems, Measurement, and Control, 1985
- Initial Experiments on the End-Point Control of a Flexible One-Link RobotThe International Journal of Robotics Research, 1984