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Impedance Control of Hydraulic Series Elastic Actuator with a Model-Based Control Design

Research output: Chapter in Book/Report/Conference proceedingConference contributionScientificpeer-review

Details

Original languageEnglish
Title of host publication2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)
PublisherIEEE
Pages966-971
Number of pages6
ISBN (Electronic) 978-1-7281-6794-7
ISBN (Print)978-1-7281-6795-4
DOIs
Publication statusPublished - Aug 2020
Publication typeA4 Article in a conference publication
EventIEEE/ASME International Conference on Advanced Intelligent Mechatronics -
Duration: 1 Jan 1900 → …

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics
ISSN (Print)2159-6247
ISSN (Electronic)2159-6255

Conference

ConferenceIEEE/ASME International Conference on Advanced Intelligent Mechatronics
Period1/01/00 → …

Abstract

Traditional mechanical actuators are designed with a high stiffness, which increases the system bandwidth. The operation of stiff actuator in uncertain environments is a challenging task due to physical interactions with the environment. Series elastic actuators (SEAs) have become the prominent method for decreasing stiffness between power output shafts and the environment in electric torque-controlled light arm applications. Compared to lightweight arms, the hydraulic actuated SEAs (HSEAs) can provide a much higher power-to-weight ratio. However, the control design for an HSEA is a challenging task due to the high non-linear dynamics of hydraulic systems. In this study, a novel subsystem-dynamics-based controller for an HSEA is designed using the virtual decomposition control (VDC) approach as a framework. The designed controller is incorporated as an inner-loop controller for previously designed a novel impedance controller. The one degrees-of-freedom (DOF) experimental setup is used to verify the control performance of the proposed controller.

Publication forum classification

Field of science, Statistics Finland