In the realm of quadruped robot locomotion,compliance control is imperative to handle impacts when negotiating unstructured terrains.At the same time,kinematic tracking accuracy should be guaranteed during locomotion....In the realm of quadruped robot locomotion,compliance control is imperative to handle impacts when negotiating unstructured terrains.At the same time,kinematic tracking accuracy should be guaranteed during locomotion.To meet both demands,ajoint space compliance controller is designed,so that compliance can be achieved in stance phase while position tracking performance can be guaranteed in swing phase.Unlike operational space compliance control,the joint space compliance control method is easy to implement and does not depend on robot dynamics.As for each joint actuator,high performance force control is of great importance for compliance design.Therefore,a nonlinear PI controller based on feedback linearization is proposed for the hydraulic actuator force control.Besides,an outer position loop（compliance loop）is closed for each joint.Experiments are carried out to verify the force controller and compliance of the hydraulic actuator.The robot leg compliance is assessed by a virtual prototyping simulation.展开更多
针对液压阻尼器特性,研制了一种同时满足其动静态性能测试的试验台,解决了该试验台面临的一系列关键技术问题。从节能的角度,采用小泵站大蓄能器组的形式,解决了动静态试验对流量要求差别巨大的矛盾;在回油路上设置蓄能器组解决了大流...针对液压阻尼器特性,研制了一种同时满足其动静态性能测试的试验台,解决了该试验台面临的一系列关键技术问题。从节能的角度,采用小泵站大蓄能器组的形式,解决了动静态试验对流量要求差别巨大的矛盾;在回油路上设置蓄能器组解决了大流量对回油管路和低压元件的冲击问题;采用液压夹紧方式,使得试验空间的调节方便可靠;采用上下位机的控制模式,同时满足了数据采集速度和控制界面友好的要求。该试验台的最大输出动态力为1 000 kN,频率范围为0.01～33 H z。试验表明,该试验台较好地满足了设计要求,完全满足阻尼器的试验需求。展开更多
基金Supported by the National High Technology Research and Development Program of China(863 Program)(2011AA041002)
文摘In the realm of quadruped robot locomotion,compliance control is imperative to handle impacts when negotiating unstructured terrains.At the same time,kinematic tracking accuracy should be guaranteed during locomotion.To meet both demands,ajoint space compliance controller is designed,so that compliance can be achieved in stance phase while position tracking performance can be guaranteed in swing phase.Unlike operational space compliance control,the joint space compliance control method is easy to implement and does not depend on robot dynamics.As for each joint actuator,high performance force control is of great importance for compliance design.Therefore,a nonlinear PI controller based on feedback linearization is proposed for the hydraulic actuator force control.Besides,an outer position loop（compliance loop）is closed for each joint.Experiments are carried out to verify the force controller and compliance of the hydraulic actuator.The robot leg compliance is assessed by a virtual prototyping simulation.
文摘针对液压阻尼器特性,研制了一种同时满足其动静态性能测试的试验台,解决了该试验台面临的一系列关键技术问题。从节能的角度,采用小泵站大蓄能器组的形式,解决了动静态试验对流量要求差别巨大的矛盾;在回油路上设置蓄能器组解决了大流量对回油管路和低压元件的冲击问题;采用液压夹紧方式,使得试验空间的调节方便可靠;采用上下位机的控制模式,同时满足了数据采集速度和控制界面友好的要求。该试验台的最大输出动态力为1 000 kN,频率范围为0.01～33 H z。试验表明,该试验台较好地满足了设计要求,完全满足阻尼器的试验需求。
