Dynamics compensation of impedance-based motion control for LHDS of legged robot

被引：15
作者：
Ba, Kaixian [1 ,2 ]
Song, Yanhe [1 ]
Yu, Bin [1 ,2 ]
He, Xiaolong [1 ]
Huang, Zhipeng [1 ]
Li, Chunhe [1 ]
Yuan, Lipeng [1 ,3 ]
Kong, Xiangdong [1 ,2 ]
机构：
[1] Yanshan Univ, Sch Mech Engn, Qinhuangdao 066004, Hebei, Peoples R China
[2] Hebei Prov Key Lab Heavy Machinery Fluid Power Tr, Qinhuangdao, Hebei, Peoples R China
[3] Harbin Inst Technol, Harbin 150001, Heilongjiang, Peoples R China
来源：
ROBOTICS AND AUTONOMOUS SYSTEMS | 2021年 / 139卷
基金：
中国国家自然科学基金;
关键词：
Legged robot; Leg hydraulic drive system (LHDS); Dynamics compensation; Impedance based motion control; DESIGN;
D O I：
10.1016/j.robot.2020.103704
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Aimed at the negative effect of dynamics characteristics of leg hydraulic drive system (LHDS) on the accuracy of motion control of the hydraulic drive legged robot, a dynamics compensation control method is proposed. First, according to the mechanical structure of LHDS, the kinematics and statics models of LHDS are analyzed and obtained respectively. Based on the principle of force-based impedance control of LHDS, an impedance based motion control simulation model of LHDS is built and analyzed. The simulation results show that the dynamics characteristics have a great influence on the accuracy of impedance based motion control. Then, a dynamics compensation method considering gravity and inertia force is proposed to solve this problem. Finally, the effect of the dynamics compensation method is verified on the robot single leg test platform. The experimental results show that the compensation method reduces the negative effect of the dynamics characteristics of LHDS on impedance based motion control accuracy, and the position tracking accuracy of the robot's foot end can be improved by more than 65%. The theory proposed in this paper provides a theoretical basis for the motion control of the whole robot prototype. (C) 2020 Elsevier B.V. All rights reserved.
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页数：14
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