Velocity control of the quadruped robot based on force control

2015 ◽  
Author(s):  
Xianpeng Zhang ◽  
Honglei An ◽  
Han Wu ◽  
Hongxu Ma
Keyword(s):  
Force Control ◽  
Quadruped Robot ◽  
Velocity Control

Modeling and Pressure-Based Force Control of a Hydraulic Actuator

1997 ◽  
Author(s):  
Scott M. Lyon ◽  
Mark S. Evans
Keyword(s):  
Dynamic Model ◽  
Force Control ◽  
Feedback Linearization ◽  
External Surface ◽  
Bond Graph ◽  
Hydraulic Pressure ◽  
Velocity Control ◽  
Hydraulic Actuator ◽  
Spool Valve ◽  
Piston Position

Abstract A dynamic model of a hydraulic actuator/spool valve combination is developed using the bond graph method. Feedback linearization is used to develop a force controller for the system using hydraulic pressure in each chamber of the actuator along with piston position and velocity as feedback. The use of a feedforward term to compensate for the seal friction within the actuator provides for a stable and accurate controller. Velocity control is achieved through calculation of the reference force required to overcome the seal friction and produce the acceleration required to reach the desired velocity. It is shown that the use of such a force controller allows for an acceptable transition from velocity to force control when the piston comes in contact with an external surface.

HYBRID POSITION/FORCE CONTROL OF THE PLANAR TROTTING QUADRUPED ROBOT

2015 ◽  
Author(s):  
YIZHANG LIU ◽  
JIAN WANG ◽  
LIN LANG ◽  
HONGXU MA
Keyword(s):  
Force Control ◽  
Quadruped Robot

Application of a Position-Force Control Method in a Master-Slave Teleoperation Construction Robot System

2012 ◽  
Vol 229-231 ◽  
pp. 2243-2247
Author(s):  
Ling Tao Huang ◽  
Takuya Kawamura ◽  
Hironao Yamada
Keyword(s):  
Control System ◽  
Force Control ◽  
Control Method ◽  
Reaction Force ◽  
Degree Of Freedom ◽  
Velocity Control ◽  
Robot System ◽  
Urethane Foam ◽  
Object A ◽  
Soft Objects

The purpose of this research is to develop a control method that can provide an operator with a suitable force feeling for grasping fragile or soft objects so as not to totally crush them. This research examines a master-slave control system for a teleoperation construction robot in which a shovel with a fork glove, having four degree of freedom, is regarded as slave side and two joysticks are regarded as master side. In the previous study using a position-velocity control method, two joysticks manipulated the shovel according to the velocity of its piston. However, it was found that the reaction force to the joysticks in grasping fragile or soft objects was insufficient for operators and they were compelled to feel strange while moving the joysticks, because they had to remove the joystick to a middle position to avoid fully grasping the object. A position-force control method, in which the reaction force to the joystick is used as feedback instead of the velocity of a piston, is proposed to overcome the problems. Its effectiveness is verified by experiments of grasping a tin block and a urethane foam block.

Effects and Application of Current Feedback in Servo System with Current Limiter

2017 ◽  
Vol 11 (1) ◽  
pp. 104-111 ◽  
Author(s):  
Masatoshi Hikizu ◽  
◽  
Hiroaki Seki ◽  
Yoshitsugu Kamiya
Keyword(s):  
Motor Control ◽  
Control System ◽  
Time Constant ◽  
Force Control ◽  
Servo System ◽  
Trajectory Control ◽  
Velocity Control ◽  
Current Feedback ◽  
Driver Amplifier ◽  
Current Limiter

A manufactured servo system has both current feedback and saturation elements in the servo driver (amplifier). The current feedback is thought to be effective only in reducing the electric time constant of the motor. However, the effects of current feedback are not only the reduction of electric time constant. In this study, the effect of current feedback is clarified by comparing it to a velocity control system without current feedback. In particular, the contribution of the current feedback to saturation elements in servo drivers is clarified. As a result, the influence of the saturation of the operation amount existing in servo drivers cannot be clarified easily, showing that the current feedback is indispensable in motor control by suppressing the flow of over-current to the motor. This demonstrates the possibility of force control that is compatible with trajectory control of a load by exploiting the characteristic of saturation of operation amount.

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