Impedance Control of Hydraulic Actuation Systems With Inherent Backdrivability

Yoo, Sunkyum; Lee, Woongyong; Chung, Wan Kyun

doi:10.1109/tmech.2019.2932132

Cited by 14 publications

(2 citation statements)

References 26 publications

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“…D denotes the driving force produced by the spring effect, and F m is the maximum of the spring force. (37)…”

Section: Here F Smentioning

confidence: 99%

“…The control performance of the above methods depends on the high precision force/pressure sensor, which limits the application of these methods. Yoo et al [37] presented an impedance control approach for a hydraulic system that required no external force/pressure sensors based on a backdrivable servovalve. However, the manufacturing cost of this type of system is relatively high.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Compound Impedance Control of a Hydraulic Driven Parallel 3UPS/S Manipulator

Wang

Cui

et al. 2020

Chin. J. Mech. Eng.

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The hydraulic parallel manipulator combines the high-power density of the hydraulic system and high rigidity of the parallel mechanism with excellent load-carrying capacity. However, the high-precision trajectory tracking control of the hydraulic parallel manipulator is challenged by the coupling dynamics of the parallel mechanism and the high nonlinearities of the hydraulic system. In this study, the trajectory control of a 3-DOF symmetric spherical parallel 3UPS/S manipulator is evaluated. Focusing on the highly coupling and nonlinear system dynamics, a compound impedance control method for a hydraulic driven parallel manipulator is proposed, which combines impedance control with the spatial motion characteristics of a parallel manipulator. The control strategy is divided into the inner and outer loops. The inner loop controls the impedance of the actuator in the joint space, and the outer loop controls the impedance of the entire platform in the task space to compensate the coupling of the actuators and improve the tracking accuracy of the moving platform. Compound impedance control does not require force or pressure sensors and is less dependent on modeling precision. The experimental results show that the compound impedance control effectively improves the tracking accuracy of the moving platform. This research proposes a compound impedance control strategy for a 3-DOF hydraulic parallel manipulator, which has high tracking precision with a simple and cheap system configuration.

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“…D denotes the driving force produced by the spring effect, and F m is the maximum of the spring force. (37)…”

Section: Here F Smentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%