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Passivity-Based Robust Compliance Control of Electro-Hydraulic Robot Manipulators With Joint Angle Limit SCIE SCOPUS

Title
Passivity-Based Robust Compliance Control of Electro-Hydraulic Robot Manipulators With Joint Angle Limit
Authors
LEE, WOONG YONGYOO, SUN KYUMNAM, SEOK HOKIM, KEE HOONCHUNG, WAN KYUN
Date Issued
2020-04
Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Abstract
This paper presents a robust compliance control scheme for an electro-hydraulic robot manipulator with an electro-hydraulic torque actuators (EHTAs) and joint torque sensors. The EHTA, a torque-sourced hydraulic actuator, consists of electro-hydraulic backdrivable servovalve and a rotary hydraulic vane actuator and it allows us to design controllers similar to those for robot manipulators with electric motors. However, unlike in electric motors, the EHTA has a limited rotational angle and this may lead to instability when using a non-passive robust controller that generates the energy. As a solution to this problem, this paper proposes a robust two-loop control structure that has a passivity-based disturbance observer as an inner-loop controller and a nominal state feedback compliance controller as an outer-loop controller. The proposed control method was evaluated through single-degree-of-freedom experiments.
URI
https://oasis.postech.ac.kr/handle/2014.oak/101493
DOI
10.1109/LRA.2020.2975724
ISSN
2377-3766
Article Type
Article
Citation
IEEE ROBOTICS AND AUTOMATION LETTERS, vol. 5, no. 2, page. 3190 - 3197, 2020-04
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정완균CHUNG, WAN KYUN
Dept of Mechanical Enginrg
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