Position-Based Impedance Control Design for a Hydraulically Actuated Series Elastic Actuator
Series elastic actuators (SEAs) have become a common actuation method in torque-controlled electric lightweight arm applications that physically interact with the environment in assembly tasks. Compared to traditional actuators, SEAs can provide high force fidelity, shock tolerance, and force sensin...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2022-03-01
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| Series: | Energies |
| Subjects: | |
| Online Access: | https://www.mdpi.com/1996-1073/15/7/2503 |
| _version_ | 1797439477138849792 |
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| author | Pauli Mustalahti Jouni Mattila |
| author_facet | Pauli Mustalahti Jouni Mattila |
| author_sort | Pauli Mustalahti |
| collection | DOAJ |
| description | Series elastic actuators (SEAs) have become a common actuation method in torque-controlled electric lightweight arm applications that physically interact with the environment in assembly tasks. Compared to traditional actuators, SEAs can provide high force fidelity, shock tolerance, and force sensing for interaction control. Considering inherent system dynamics and the variable stiffness of the fluid, the control design for hydraulic SEAs (HSEAs) that lead into fifth-order system is a challenging task. As a novelty, a full state feedback controller design for the developed fifth-order HSEA system is presented to serve as an inner-loop controller to handle highly nonlinear dynamics behavior. In addition, as an outer-loop impedance controller for HSEAs in heavy-duty applications, the position-based impedance controller is designed to handle control of the HSEA system during the contact motion. Experimental results with a one-degree-of-freedom real-size experimental setup with a payload of 200 kilos demonstrates the effectiveness of the proposed HSEA control methods both in the free-space motion and in a contact impedance motion. |
| first_indexed | 2024-03-09T11:54:33Z |
| format | Article |
| id | doaj.art-714702c49fbf4b3ea2ea60d49bba0760 |
| institution | Directory Open Access Journal |
| issn | 1996-1073 |
| language | English |
| last_indexed | 2024-03-09T11:54:33Z |
| publishDate | 2022-03-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Energies |
| spelling | doaj.art-714702c49fbf4b3ea2ea60d49bba07602023-11-30T23:11:04ZengMDPI AGEnergies1996-10732022-03-01157250310.3390/en15072503Position-Based Impedance Control Design for a Hydraulically Actuated Series Elastic ActuatorPauli Mustalahti0Jouni Mattila1Faculty of Engineering and Natural Sciences, Tampere University, 33720 Tampere, FinlandFaculty of Engineering and Natural Sciences, Tampere University, 33720 Tampere, FinlandSeries elastic actuators (SEAs) have become a common actuation method in torque-controlled electric lightweight arm applications that physically interact with the environment in assembly tasks. Compared to traditional actuators, SEAs can provide high force fidelity, shock tolerance, and force sensing for interaction control. Considering inherent system dynamics and the variable stiffness of the fluid, the control design for hydraulic SEAs (HSEAs) that lead into fifth-order system is a challenging task. As a novelty, a full state feedback controller design for the developed fifth-order HSEA system is presented to serve as an inner-loop controller to handle highly nonlinear dynamics behavior. In addition, as an outer-loop impedance controller for HSEAs in heavy-duty applications, the position-based impedance controller is designed to handle control of the HSEA system during the contact motion. Experimental results with a one-degree-of-freedom real-size experimental setup with a payload of 200 kilos demonstrates the effectiveness of the proposed HSEA control methods both in the free-space motion and in a contact impedance motion.https://www.mdpi.com/1996-1073/15/7/2503elastic actuatorheavy duty manipulatorimpedance control |
| spellingShingle | Pauli Mustalahti Jouni Mattila Position-Based Impedance Control Design for a Hydraulically Actuated Series Elastic Actuator Energies elastic actuator heavy duty manipulator impedance control |
| title | Position-Based Impedance Control Design for a Hydraulically Actuated Series Elastic Actuator |
| title_full | Position-Based Impedance Control Design for a Hydraulically Actuated Series Elastic Actuator |
| title_fullStr | Position-Based Impedance Control Design for a Hydraulically Actuated Series Elastic Actuator |
| title_full_unstemmed | Position-Based Impedance Control Design for a Hydraulically Actuated Series Elastic Actuator |
| title_short | Position-Based Impedance Control Design for a Hydraulically Actuated Series Elastic Actuator |
| title_sort | position based impedance control design for a hydraulically actuated series elastic actuator |
| topic | elastic actuator heavy duty manipulator impedance control |
| url | https://www.mdpi.com/1996-1073/15/7/2503 |
| work_keys_str_mv | AT paulimustalahti positionbasedimpedancecontroldesignforahydraulicallyactuatedserieselasticactuator AT jounimattila positionbasedimpedancecontroldesignforahydraulicallyactuatedserieselasticactuator |