Rolling Diaphragm Hydrostatic Transmissions (RDHT) are high-performance low-cost solutions to delocalize heavy actuators away from the joints of robotic systems. Exploiting a low-cost pressure-based sensing technique, we propose here a Smith-predictor-based joint torque control of an RDHT-based actuation system. We also use a load-cell sensor for ground truth validation. The developed feedback controller is conveniently tuned based on an arbitrary pre-specified closed-loop natural frequency and damping ratio. This preserves the open-loop bandwidth while removing the intrinsic oscillations of the lightly damped highly transparent open-loop plant. Experimental tests validate the proposed control strategy, both in a stand-alone torque setpoint configuration and in a series of Human-Robot-Interaction tests confirming the significant advantages of the closed-loop control architecture.

Smith-Predictor-Based Torque Control of a Rolling Diaphragm Hydrostatic Transmission / Bolignari, M.; Rizzello, G.; Zaccarian, L.; Fontana, M.. - In: IEEE ROBOTICS AND AUTOMATION LETTERS. - ISSN 2377-3766. - 6:2(2021), pp. 2970-2977. [10.1109/LRA.2021.3062310]

Smith-Predictor-Based Torque Control of a Rolling Diaphragm Hydrostatic Transmission

Bolignari M.;Zaccarian L.;Fontana M.
2021-01-01

Abstract

Rolling Diaphragm Hydrostatic Transmissions (RDHT) are high-performance low-cost solutions to delocalize heavy actuators away from the joints of robotic systems. Exploiting a low-cost pressure-based sensing technique, we propose here a Smith-predictor-based joint torque control of an RDHT-based actuation system. We also use a load-cell sensor for ground truth validation. The developed feedback controller is conveniently tuned based on an arbitrary pre-specified closed-loop natural frequency and damping ratio. This preserves the open-loop bandwidth while removing the intrinsic oscillations of the lightly damped highly transparent open-loop plant. Experimental tests validate the proposed control strategy, both in a stand-alone torque setpoint configuration and in a series of Human-Robot-Interaction tests confirming the significant advantages of the closed-loop control architecture.
2021
2
Bolignari, M.; Rizzello, G.; Zaccarian, L.; Fontana, M.
Smith-Predictor-Based Torque Control of a Rolling Diaphragm Hydrostatic Transmission / Bolignari, M.; Rizzello, G.; Zaccarian, L.; Fontana, M.. - In: IEEE ROBOTICS AND AUTOMATION LETTERS. - ISSN 2377-3766. - 6:2(2021), pp. 2970-2977. [10.1109/LRA.2021.3062310]
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11572/336232
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