期刊
IEEE TRANSACTIONS ON ROBOTICS
卷 31, 期 4, 页码 918-935出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TRO.2015.2441492
关键词
Contact force estimation; contact force/motion control; hydraulic manipulators; nonlinear model-based control; stability analysis; virtual decomposition control (VDC)
类别
资金
- Academy of Finland [286553]
- Academy of Finland (AKA) [286553, 286553] Funding Source: Academy of Finland (AKA)
In this paper, a force-sensorless high-performance contact force/motion control approach is proposed for multiple-degree-of-freedom hydraulic manipulators. A rigorous stability proof for an entire hydraulic manipulator performing contact tasks is provided for the first time. The controller design for the manipulator is based on the recently introduced virtual decomposition control approach. As a significant novelty, the end-effector contact force is directly estimated from the manipulator's cylinder pressure data, which provides a practical solution for heavy-duty contact force control without engaging fragile force/torque sensors. In the experiments, the proposed controller achieved a force control accuracy of 4.1% at a desired contact force of 8000 N while in motion. This can be considered a significant result due to the hydraulic actuators' highly nonlinear behaviors, the coupled mechanical linkage dynamics, and the complex interaction dynamics between the manipulator and the environment.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据