In the field of robotic control, impedance control is seen as an efficient method of position and force control during operations where there is a dynamic interaction between the robot and the environment. An impedance control strategy using an electrohydraulic servosystem for such tasks is described. The impedance of the robotic manipulator is varied by varying the damping in the hydraulic servosystem appended to the manipulator, which acts as a controller in the physical domain. Theoretical and experimental investigations carried out on a typical system are described. Bond graph as well as block diagram approaches are used for analysis of the system. Copyright © 1996 Elsevier Science Ltd.

Thondiyath Asokan

Department of Engineering Design

Makaram Singaperumal

Control system analysis

Damping

Electric Impedance

ELECTRIC VARIABLES CONTROL

Force control

Graphic methods

Manipulators

Position control

Servomechanisms

ACTIVE IMPEDANCE CONTROL

BOND GRAPH

DAMPING VARIATION

ELECTROHYDRAULIC SERVOSYSTEM

Robotics

IIT Madras is a public technical and research university located in Chennai, Tamil Nadu. Founded in 1959, it is recognised as an Institute of National Importance.

IIT Madras has been ranked as the top engineering institute in India for four years in a row by the National Institutional Ranking Framework of the MHRD

It currently offers undergraduate, postgraduate and research degrees across 16 disciplines in Engineering, Sciences, Humanities and Management. About 596 faculty belonging to science and engineering departments and centres of the Institute are engaged in teaching, research and industrial consultancy.

IIT Madras

Damping variation through electrohydraulic servosystem: An application to active impedance control

Mechatronics

Performance of an electrohydraulic impedance controller, developed in the physical domain, for controlling the contact forces during robotic interaction tasks is analyzed in this paper. The impedance controller is capable of varying the mechanical impedance of the manipulator during an interaction task and thus controls the interaction force. An electrohydraulic servo actuator, appended to a 1-d.o.f. manipulator arm, acts as the controller in the physical domain. The controller performance depends on the physical parameters such as size of the actuator, bulk modulus of the oil, etc., of the hydraulic system. The influence of these physical parameters of the controller performance is analyzed through frequency analysis and acceptable ranges of values for these parameters are determined. Controller sensitivity, stability of the constrained manipulator system and its frequency response are analyzed theoretically and results are presented. The limitation of application of the controller for practical applications is also analyzed and the results are presented.

Advanced Robotics

Performance analysis of an electrohydraulic impedance controller for robotic interaction control

Journal	Data powered by TypesetMechatronics
Publisher	Data powered by TypesetElsevier Ltd
ISSN	09574158
Open Access	No