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Position-based impedance control of an industrial hydraulic manipulator

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3 Author(s)
Heinrichs, B. ; Dept. of Mech. & Ind. Eng., Manitoba Univ., Winnipeg, Man., Canada ; Sepehri, N. ; Thornton-Trump, A.B.

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

Published in:

Control Systems, IEEE  (Volume:17 ,  Issue: 1 )