Joint Torque Control of Hydraulic Quadruped Robot

Shao, Junpeng; Mu, Xiaoning; Sun, Guitao; Yang, Weiyu

doi:10.14257/ijca.2015.8.5.35

Cited by 4 publications

(3 citation statements)

References 4 publications

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“…To avoid the interference of asynchronous motion, the attention will be paid to the position of a servo actuator with electro-hydraulic in its control mode. According to the related research in the reference [23][24][25][26], as shown in Eq. ( 1), the transfer function expression of the single-cylinder servo system with an electro-hydraulic position should be derived:…”

Section: Modeling Of a Servo Actuator With Electro-hydraulicmentioning

confidence: 99%

Kinematics analysis of a FLHL robot parallel-executed cylinder mechanical integration system with force/position hybrid control servo actuator

Wang¹,

Wang²,

Fu³

et al. 2021

J. vibroeng.

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In this research subtopic, an electro-hydraulic servo four-legged heavy load (FLHL) robot has been designed and developed. This paper proposes an integration layout cylinder design scheme for a non-lightweight hydraulic servo four-legged robot with high loads and torques of hip joint, and derives the mathematical element analysis model for a parallel hydraulic servo cylinder system. The multiple inherent characteristics of the parallel-executed cylinder integration system model are further explored. Based on the controllable functional requirements of interconnected joints and weakening the influence of internal force coupling, a design idea of force/position hybrid control scheme for the parallel-executed cylinder is determined, and then the force/position signal module design unit is used to reversely solve the force/position hybrid control. Considering the inherent requirements of the servo-executed cylinder force control unit module, the implementation process of magnetic flux compensation and speed compensation is discussed in detail. The minimum amplitude controller is applied to the servo-executed cylinder force unit module, and the proportional integrated controller has been determined in the servo-executed cylinder position control unit module. A compound control strategy proposed in this paper is verified on a parallel hydraulic servo platform. The experimental verification results reveal that the values of position/force attenuation amplitude and lag phase are not greater than 9 % and 18°, respectively. In addition, the feasibility of the interconnected implementation of the hybrid control scheme proposed in this paper is further deepened. The effective conclusion of this research will be accepted in the application field of FLHL robot control system.

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Section: Modeling Of a Servo Actuator With Electro-hydraulicmentioning

confidence: 99%

Kinematics analysis of a FLHL robot parallel-executed cylinder mechanical integration system with force/position hybrid control servo actuator

Wang¹,

Wang²,

Fu³

et al. 2021

J. vibroeng.

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show abstract

“…In order to avoid movement interference, the position of actuator should be taken into account in the driving force control mode. According to the works of Wang et al, 16 Shao et al, 17 Gong et al 18 and Zhang et al, 19 the transfer function of single cylinder electro-hydraulic position servo system can be obtained, as shown in the following equation…”

Section: Electro-hydraulic Servo Actuator Modellingmentioning

confidence: 99%

Study on motion analysis and force/position hydraulic control of a parallel cylinder transmission system of heavy-duty quadruped robot

Shao

Jin

Wang

et al. 2019

International Journal of Advanced Robotic Systems

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In the article, a heavy-duty quadruped robot was designed. A parallel cylinder transmission scheme for the heavy load torque of the hip joint of heavy-duty hydraulic quadruped robot is proposed, the mathematical model of the parallel cylinder system is derived, the model characteristics of the parallel cylinder system are analyzed, the characteristics of internal force and joint control of parallel cylinders are considered, the force/position hybrid control of parallel cylinder is proposed to eliminate the internal forces and realize the requirement of joint control and the force/position control is decoupled by the design of the force and position signal. According to the characteristics of the servo cylinder force control model, the flow compensation and speed compensation are introduced, the minimum control synthesis controller is used to control the servo cylinder force and the proportional integral controller is applied to control the position of servo cylinder. The compound control strategy is analyzed on the table of parallel cylinder, and the experimental results show that the amplitude attenuation and phase lag of position and force are less than 10% and 18 , respectively, and the efficiency of the proposed control strategy is verified. The research results of this article will be widely used in many fields of robot control in the future.

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“…The integration of both electronic and hydraulic equipment that absorbed both advantages is extensively used nowadays. Due to the ability to create a large force, torques, and high energy density, EHA system becomes widely used in robotic, mobile machine, metal forming, and manufacturing, [1][2][3][4]. The dynamic sources such as electric motor or engine drives provide hydraulic pump dynamics that deliver fluid under pressure.…”

Section: Introductionmentioning

confidence: 99%

The Effects of Parameter Variation in Open-Loop and Closed-Loop Control Scheme for an Electro-hydraulic Actuator System

Soon

Ghazali

Jaafar

et al. 2016

IJCA

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Joint Torque Control of Hydraulic Quadruped Robot

Abstract: Abstract

Cited by 4 publications

References 4 publications

Kinematics analysis of a FLHL robot parallel-executed cylinder mechanical integration system with force/position hybrid control servo actuator

Kinematics analysis of a FLHL robot parallel-executed cylinder mechanical integration system with force/position hybrid control servo actuator

Study on motion analysis and force/position hydraulic control of a parallel cylinder transmission system of heavy-duty quadruped robot

The Effects of Parameter Variation in Open-Loop and Closed-Loop Control Scheme for an Electro-hydraulic Actuator System

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