High-Bandwidth Active Impedance Control of the Proprioceptive Actuator Design in Dynamic Compliant Robotics
Dynamic compliant robotics is a fast growing field because of its ability to widen the scope of robotics. The reason for this is that compliant mechanisms may ensure safe/compliant interactions between a robot and an external element—for instance, a human operator. Active impedance control...
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| Format: | Article |
| Language: | English |
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MDPI AG
2019-10-01
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| Series: | Actuators |
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| Online Access: | https://www.mdpi.com/2076-0825/8/4/71 |
| _version_ | 1818878234258833408 |
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| author | Simon Hjorth Jessing Lund Peter Billeschou Leon Bonde Larsen |
| author_facet | Simon Hjorth Jessing Lund Peter Billeschou Leon Bonde Larsen |
| author_sort | Simon Hjorth Jessing Lund |
| collection | DOAJ |
| description | Dynamic compliant robotics is a fast growing field because of its ability to widen the scope of robotics. The reason for this is that compliant mechanisms may ensure safe/compliant interactions between a robot and an external element—for instance, a human operator. Active impedance control may widen the scope even further in relation to passive elements, but it requires high-bandwidth robust torque and active impedance control which induces high-noise issues even if high-end sensors are used. To address these issues, a complete controller design scheme, including Field-Oriented Control (FOC) of a Brushless Direct Current (BLDC) motor, is proposed. In this paper, controller designs for controlling the virtual impedance, motor torque and field are proposed which enables high-bandwidth robust control. Additionally, a novel speed and angle observer is proposed that aims to reduce noise arising in the angle sensor (typically a 12-bit magnetic encoder) and a Kalman/Luenberger based torque observer is proposed that aims to reduce noise arising in the phase current sensors. Through experimental tests, the combination of the controller designs and observers facilitated a closed-loop torque bandwidth of <inline-formula> <math display="inline"> <semantics> <mrow> <mn>2.6</mn> </mrow> </semantics> </math> </inline-formula> <inline-formula> <math display="inline"> <semantics> <mi mathvariant="normal">k</mi> </semantics> </math> </inline-formula><inline-formula> <math display="inline"> <semantics> <mi>Hz</mi> </semantics> </math> </inline-formula> and a noise reduction of <inline-formula> <math display="inline"> <semantics> <mrow> <mn>13.5</mn> </mrow> </semantics> </math> </inline-formula> dB (in relation to no observers), at a sample rate and Pulse Width Modulation (PWM) frequency of 25 <inline-formula> <math display="inline"> <semantics> <mi mathvariant="normal">k</mi> </semantics> </math> </inline-formula><inline-formula> <math display="inline"> <semantics> <mi>Hz</mi> </semantics> </math> </inline-formula>. Additionally, experiments verified a precise and high performing controller scheme both during impacts and at a variety of different virtual compliance characteristics. |
| first_indexed | 2024-12-19T14:10:56Z |
| format | Article |
| id | doaj.art-9b15e8e5cc424daea3eede90d68d91e1 |
| institution | Directory Open Access Journal |
| issn | 2076-0825 |
| language | English |
| last_indexed | 2024-12-19T14:10:56Z |
| publishDate | 2019-10-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Actuators |
| spelling | doaj.art-9b15e8e5cc424daea3eede90d68d91e12022-12-21T20:18:09ZengMDPI AGActuators2076-08252019-10-01847110.3390/act8040071act8040071High-Bandwidth Active Impedance Control of the Proprioceptive Actuator Design in Dynamic Compliant RoboticsSimon Hjorth Jessing Lund0Peter Billeschou1Leon Bonde Larsen2Advanced Computer Systems Group, University of Southern Denmark, Campusvej 55, 5230 Odense, DenmarkAdvanced Computer Systems Group, University of Southern Denmark, Campusvej 55, 5230 Odense, DenmarkAdvanced Computer Systems Group, University of Southern Denmark, Campusvej 55, 5230 Odense, DenmarkDynamic compliant robotics is a fast growing field because of its ability to widen the scope of robotics. The reason for this is that compliant mechanisms may ensure safe/compliant interactions between a robot and an external element—for instance, a human operator. Active impedance control may widen the scope even further in relation to passive elements, but it requires high-bandwidth robust torque and active impedance control which induces high-noise issues even if high-end sensors are used. To address these issues, a complete controller design scheme, including Field-Oriented Control (FOC) of a Brushless Direct Current (BLDC) motor, is proposed. In this paper, controller designs for controlling the virtual impedance, motor torque and field are proposed which enables high-bandwidth robust control. Additionally, a novel speed and angle observer is proposed that aims to reduce noise arising in the angle sensor (typically a 12-bit magnetic encoder) and a Kalman/Luenberger based torque observer is proposed that aims to reduce noise arising in the phase current sensors. Through experimental tests, the combination of the controller designs and observers facilitated a closed-loop torque bandwidth of <inline-formula> <math display="inline"> <semantics> <mrow> <mn>2.6</mn> </mrow> </semantics> </math> </inline-formula> <inline-formula> <math display="inline"> <semantics> <mi mathvariant="normal">k</mi> </semantics> </math> </inline-formula><inline-formula> <math display="inline"> <semantics> <mi>Hz</mi> </semantics> </math> </inline-formula> and a noise reduction of <inline-formula> <math display="inline"> <semantics> <mrow> <mn>13.5</mn> </mrow> </semantics> </math> </inline-formula> dB (in relation to no observers), at a sample rate and Pulse Width Modulation (PWM) frequency of 25 <inline-formula> <math display="inline"> <semantics> <mi mathvariant="normal">k</mi> </semantics> </math> </inline-formula><inline-formula> <math display="inline"> <semantics> <mi>Hz</mi> </semantics> </math> </inline-formula>. Additionally, experiments verified a precise and high performing controller scheme both during impacts and at a variety of different virtual compliance characteristics.https://www.mdpi.com/2076-0825/8/4/71proprioceptive controlvirtual compliancefield oriented controlhigh noise attenuationlegged robotsmotor controlobserverkalman filtertorque controlhigh bandwidthbldc |
| spellingShingle | Simon Hjorth Jessing Lund Peter Billeschou Leon Bonde Larsen High-Bandwidth Active Impedance Control of the Proprioceptive Actuator Design in Dynamic Compliant Robotics Actuators proprioceptive control virtual compliance field oriented control high noise attenuation legged robots motor control observer kalman filter torque control high bandwidth bldc |
| title | High-Bandwidth Active Impedance Control of the Proprioceptive Actuator Design in Dynamic Compliant Robotics |
| title_full | High-Bandwidth Active Impedance Control of the Proprioceptive Actuator Design in Dynamic Compliant Robotics |
| title_fullStr | High-Bandwidth Active Impedance Control of the Proprioceptive Actuator Design in Dynamic Compliant Robotics |
| title_full_unstemmed | High-Bandwidth Active Impedance Control of the Proprioceptive Actuator Design in Dynamic Compliant Robotics |
| title_short | High-Bandwidth Active Impedance Control of the Proprioceptive Actuator Design in Dynamic Compliant Robotics |
| title_sort | high bandwidth active impedance control of the proprioceptive actuator design in dynamic compliant robotics |
| topic | proprioceptive control virtual compliance field oriented control high noise attenuation legged robots motor control observer kalman filter torque control high bandwidth bldc |
| url | https://www.mdpi.com/2076-0825/8/4/71 |
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