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Liu Y, Chen X, Yu Z, Yu H, Meng L, Yokoi H. High-precision dynamic torque control of high stiffness actuator for humanoids. ISA TRANSACTIONS 2023; 141:401-413. [PMID: 37474435 DOI: 10.1016/j.isatra.2023.06.031] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 02/03/2023] [Revised: 06/27/2023] [Accepted: 06/28/2023] [Indexed: 07/22/2023]
Abstract
The high stiffness actuator (HSA), applied to each joint of an electrical driven humanoid robot, can directly affect the motion performance of the torque-controlled humanoid robots. For high control performance of HSA, a high-precision dynamic torque control (HDTC) is proposed. The HDTC consists of two phases: (1) A novel dynamic current control is used to linearize high stiffness actuator torque control system, which can estimate and compensate the nonlinear coupling parts; (2) An enhanced internal model control is designed to ensure high tracking accuracy in the system containing noisy torque signal and even numerical differentiation signals. Benefitting from dynamic current control and the enhanced internal model control, the proposed HDTC is accurate and adaptable. Finally, the superiority of the HDTC is verified with comparative experiments.
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Affiliation(s)
- Yaliang Liu
- School of Mechatronical Engineering, Beijing Institute of Technology (BIT), Beijing 100081, China; The Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, Beijing 100081, China
| | - Xuechao Chen
- School of Mechatronical Engineering, Beijing Institute of Technology (BIT), Beijing 100081, China; The Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, Beijing 100081, China.
| | - Zhangguo Yu
- School of Mechatronical Engineering, Beijing Institute of Technology (BIT), Beijing 100081, China; The State Key Laboratory of Intelligent Control and Decision of Complex Systems, Beijing 100081, China
| | - Han Yu
- School of Mechatronical Engineering, Beijing Institute of Technology (BIT), Beijing 100081, China; The Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, Beijing 100081, China
| | - Libo Meng
- School of Mechatronical Engineering, Beijing Institute of Technology (BIT), Beijing 100081, China; The Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, Beijing 100081, China
| | - Hiroshi Yokoi
- Beijing Advanced Innovation Center for Intelligent Robots and Systems, BIT, Beijing 100081, China; Department of Mechanical Engineering and Intelligent Systems, The University of Electro-Communications, Tokyo 182-8585, Japan
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Mou F, Wu D, Dong Y. Disturbance rejection sliding mode control for robots and learning design. INTEL SERV ROBOT 2021. [DOI: 10.1007/s11370-021-00360-z] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/21/2022]
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Abstract
Installing force-controlled end-effectors on the end of industrial robots has become the mainstream method for robot force control. Additionally, during the polishing process, contact force stability has an important impact on polishing quality. However, due to the difference between the robot structure and the force-controlled end-effector, in the polishing operation, direct force control will have impact during the transition from noncontact to contact between the tool and the workpiece. Although impedance control can solve this problem, industrial robots still produce vibrations with high inertia and low stiffness. Therefore, this research proposes an impedance matching control strategy based on traditional direct force control and impedance control methods to improve this problem. This method’s primary purpose is to avoid force vibration in the contact phase and maintain force–tracking performance during the dynamic tracking phase. Simulation and experimental results show that this method can smoothly track the contact force and reduce vibration compared with traditional force control and impedance control.
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