Dynamic Compliance Analysis for LHDS of Legged Robot, Part A: Position-Based Impedance Control

被引：8
作者：
Ba, Kai-Xian [1 ]
Yu, Bin [1 ,2 ]
Ma, Guo-Liang [1 ]
Gao, Zheng-Jie [1 ]
Zhu, Qi-Xin [1 ]
Jin, Zheng-Guo [1 ]
Kong, Xiang-Dong [1 ,2 ]
机构：
[1] Yanshan Univ, Sch Mech Engn, Qinhuangdao 066004, Peoples R China
[2] Yanshan Univ, Hebei Prov Key Lab Heavy Machinery Fluid Power Tr, Qinhuangdao 066004, Peoples R China
来源：
IEEE ACCESS | 2018年 / 6卷
基金：
中国国家自然科学基金;
关键词：
Dynamic compliance; position-based impedance control; hydraulic drive unit (HDU); leg hydraulic drive system (LHDS); QUADRUPED ROBOT; DESIGN; SYSTEM;
D O I：
10.1109/ACCESS.2018.2875121
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, the dynamic compliance analysis for position-based impedance control is studied. First, the leg hydraulic drive system (LHDS) of legged robots is studied and the mathematical model of hydraulic drive unit (HDU) position control system is built. Then, combined with kinematics, statics and dynamics of the leg mechanical structure, the position-based impedance control method is applied to LHDS. Moreover, the serial-parallel composition of the dynamic compliance of position-based impedance control is analyzed and the three key factors influencing the impedance control accuracy are found, which is the main contribution of this paper. Finally, the key factors proposed in this paper are verified experimentally by using both LHDS and HDU performance test platform. The theories and experiments proposed in this paper provide a theoretical foundation for the compensation of position-based impedance control.
引用
收藏
页码：64321 / 64332
页数：12
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