Position-based impedance control of an industrial hydraulic manipulator
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DOI: 10.1109/37.569715
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摘要: This article addresses the problem of impedance control in hydraulic manipulators. Whereas most and hybrid force/position formulations have focused on electrically driven robots with controllable actuator torques, torque actuators is a difficult task. A position-based controller (PBIC) proposed demonstrated an existing industrial robot (a Unimate MKII-2000). nonlinear proportional-integral (NPI) first developed to meet accurate positioning requirements this formulation. The NPI shown make manipulator match range second-order target impedances. Various experiments free space environmental contact, including simple modulation experiment, demonstrate feasibility promise technique. Finally, explanation experimentally observed behaviour offered, suggesting basic limitation implementation control.
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